Technical Manual iTNC530 English
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Download Technical Manual iTNC530 English...
Description
Technical Manual
iTNC 530
NC Software 340 490-02 340 491-02 340 492-02 340 493-02
September 2006
Contents
Volume I
Update Information Introduction Mounting and Electrical Installation Machine Parameters Modules, Markers and Words Configuring the Axes and Spindle
Volume II
CC 424 Controller Unit Machinen Integration PLC Programming Data Interface iTNC 530 with Windows 2000 Error Messages Subject Index
1 2 3 4 5 6 7 8 9 10 11 12 13
1 Update Information 1.1 General Information Update Information for the iTNC 530 appears at irregular intervals, often as part of a new software version. This is preliminary information in PDF format, containing brief descriptions of new software functions as well as new hardware components. After the Update Information has been published, the new items are included in the iTNC 530 Technical Manual. Each Update Information is saved in the HEIDENHAIN FileBase on the Internet, where registered users can access it under http://filebase.heidenhain.de. The files are in the “NC Milling iTNC530/Documentation” folder in the FileBase. Registered users of the HEIDENHAIN FileBase receive an e-mail message when a new Update Information appears, as well as upon the publication of a new printed version of the Technical Manual for the iTNC 530.
September 2006
General Information
1–1
1–2
HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 1 1.1 Releases The following NC software was released: NC software 340 420-02 and 340 421-02 NC software 340 420-03 and 340 421-03 NC software 340 420-04 und 340 421-04 NC software 340 420-05 and 340 421-05
December 2001 January 2002 March 2002 May 2002
1.2 NC Software 340 420-xx NC Software
Export version
Release
340 420-02
340 421-02
December 2001
Machine Parameters
MP1086.x is new: Maximum permissible jerk during single-axis movements at rapid traverse for the operating modes Program Run Full Sequence, Program Run Single Block und Positioning with Manual Data Input Input: 0: Function inactive 0.1 to 1000.0 [m/s3] MP7365.x has been expanded: Color settings of the oscilloscope MP7365.0 = $0FFFFFF Background MP7365.1 = $0808080 Grid MP7365.2 = $00000FF Cursor and text MP7365.3 = $0FF0000 Selected channel MP7365.4 = $0C08030 Channel 1 MP7365.5 = $000FF00 Channel 2 MP7365.6 = $0FF00FF Channel 3 MP7365.7 = $00000FF Channel 4 MP7365.8 = $0FFCF00 Channel 5 MP7365.9 = $000CFFF Channel 6
Configuring the Axes and Spindle
The path acceleration is calculated from the axis proportions. New signals in the integrated oscilloscope: • I2-t monitoring of the motor • I2-t monitoring of the power module • Utilization of the motor • Position difference in gantry axes The oscilloscope has six channels; of those, no more than four can display data from the current and speed controller. The signals of the oscilloscope can be referenced to the datum line and are therefore optimally adjusted in the display.
October 2003
Releases
1–1
Machine Integration
A starting and ending time can be entered for the log. An internal EMERGENCY STOP can be simulated with the code number FAILTEST in order to check the wiring of the machine. The control-is-ready output is reset. The NC and PLC are no longer operable. If the control is switched off by a POWERFAIL, Power Fail Interrupt is entered in the log. If no value is saved during the probing process, the error message No measured value saved appears.
PLC Programming
Extended ranges of the PLC operands: • Markers M0 to M9999 (M4000 to M5999 are reserved for NC/PLC) • Bytes B0 to B9999, words W0 to W9998, double words D0 to D9996 (B128 to B2047 reserved for NC/PLC) • Timers T0 to T999 • Counters C0 to C143 The functions FN15: PRINT and FN16: F-PRINT make it possible to write data from an OEM cycle to the PLC partition also.
Miscellaneous
Enabled directories of a Windows computer can also be connected as a network drive: • MOUNTDEVICE: //= 0: Feed rate from corresponding double word –1: Maximum feed rate –2: Axis-specific rapid traverse from MP1010.x –3: Axis-specific manual feed rate from MP1020.x B/W/D/K 9140
Error detection: Marker
Value
Meaning
M4203
0
Feed-rate limit is set.
W1022
Miscellaneous
October 2003
1
Error code in W1022
2
Invalid number of axes or double words
3
Invalid block length as of starting address
5
No double word address
24
Module was called in a spawn job or submit job
If more than one error message occurs, you can display a list of them with the ERR key. The search function was expanded by the REPLACE ALL soft key. To be able to use the PLANE function with tilting axes and Hirth coupling, after the PLANE function the position of the angular axes can be transferred for the coordinate transformation with M114. The transferred coordinates must be in the Hirth grid. OEM.SYS is reevaluated during activation of the machine parameter programming operating mode and before downloading a machine parameter file. In connection with TNCremoNT 2.2, during the restoring of a backup, first OEM.SYS is transferred and also evaluated before transferring the machine parameter file. In the help window for error messages, further notes on the error message is shown under Additional information. Cycles 253 (SLOT MILLING) and 254 (CIRCULAR SLOT) were expanded by the parameters Q385 (FEED RATE FOR FINISHING) and Q366 (PLUNGING). Cycles 1 (PECKING) to 5 (CIRCULAR POCKET), 17 (RIGID TAPPING) and 18 (THREAD CUTTING) were moved in the cycle structure. They are programmable over the soft keys SPECIAL CYCLES and OLD CYCLS: Cycles 410 (DATUM INSIDE RECTAN.) to 416 (DATUM INSIDE CIRCLE) and 418 (DATUM FROM 4 HOLES) were expanded by the parameters Q381 (PROBING IN TS AXIS), Q382 (1ST CO. FOR TS AXIS), Q383 (2ND CO. FOR TS AXIS), Q384 (3RD CO. FOR TS AXIS) and Q333 (DATUM). Cycles 251 (RECTANGULAR POCKET) and 252 (CIRCULAR POCKET) were expanded by the parameters Q385 (FEED RATE FOR FINISHING). The pokket is cleared in a spiral path from the inside to the outside.
NC Software 340 422-xx and 340 480-xx
1–7
Swivel-head axes are ignored when M116 is programmed. In Cycle 32 (TOLERANCE) the tolerance for rotary axes is also active with single and double filter (up to now it was active only with HSC filter). Cycle 3 (MEASURING) was expanded by the DATUM SYSTEM input box. With the UPPER/LOWERCASE ON OFF soft key, the search function in the ASCII editor can differentiate between upper and lower case letters. The manually set datum, which was set by the user with the axis keys, is automatically written into line 0 of the preset table. Pressing the Q key displays the newly arranged menu for FN functions. The submenus feature a “Back” soft key. With FN16: F-PRINT the output can be shown in a pop-up window. The protocol file screen: must be entered. After the MOD key and the UPDATE DATA soft key in the Machine parameter programming operating mode, the SP → iTNC soft key appears. With this soft key you can install “service packs” that are released by HEIDENHAIN when required. An installed service pack is displayed after the MOD key through SP after the ID number of the NC software. The tool insert file can be generated through an LSV2 command. If the program is aborted, the point of interruption is saved and is displayed after the RESTORE POS. AT soft key is pressed. It can be loaded with the SELECT LAST N soft key. If the program is aborted due to a power outage, or if the iTNC 530 with Windows 2000 was shut down in Windows, after the Power interrupted message is acknowledged, the NC program is aborted message appears (the power-fail monitoring must be active). TCPM FUNCTION can be programmed with the SPECIAL TNC FUNCT. And FUNCTION soft keys. FUNCTION TCPM is a further development of the M128 function with which you can define behavior during positioning of rotary axes. Unlike M128, with FUNCTION TCPM the user can himself define the behavior of various functions: • F TCP/F CONT: Behavior of the programmed feed rate • AXIS POS/AXIS SPAT: Interpretation of the NC coordinates programmed in the NC program • PATHCTRL AXIS/PATHCTRL VECTOR: Type of interpolation between starting and target position With the CONVERT PROGRAM soft key: • The FK programming can be resolved (FK -> H soft key). • Two NC programs can be generated that only contain lines and circular arcs and can be run in the programmed sequence or the opposite sequence (CONVERT PGM → .FWD/.REV) soft key.
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HEIDENHAIN Technical Manual iTNC 530
1.3 Additional Enhancements to NC Software 340 480-xx Module 9133 was expanded by the code 2 (temperature of 2nd CPU). MP7225 is new: MP7225 defines the windows drives that are not supposed to appear in the TNC file management (PGM MGT). Input:A to Z If there are more than one drive, they are entered without spaces, e.g. MP7225 = CDE Hard disks that are shipped with 340 480-06, support the Windows 2000 MultiLanguage version. In the version you can select the language of the operating system. This new function cannot be retrofitted. The HeROS real-time operating system tests cyclically within 5 seconds whether a connection to the iTNC application exists under Windows, whether the file system can be accessed, and whether the X server for the display and keyboard is functioning. If one of these tests is impossible for more than 5 seconds, M4600 is set. M4600 is reset when all tests are possible again. If one test is impossible for more than 10 seconds, the control is shut down.
October 2003
Additional Enhancements to NC Software 340 480-xx
1–9
✎
1 – 10
HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 7 1.1 Releases The following versions of the NC software were released: NC software 340 422-07 and 340 423-07 NC software 340 480-07 and 340 481-07
August 2003 August 2003
1.2 NC Software 340 422-xx and 340 480-xx
Machine parameters
October 2003
NC Software
Export version
Release
340 422-07
340 423-07
August 2003
340 480-07
340 481-07
August 2003
The maximum input value for MP3142 and MP13142 (line count of the spindle position encoder) was increased from 9999 to 30000. MP4043 and MP4044 are new: If all PLC outputs are switched off (e.g., during PLC program compilation or due to a PLC run-time error), the outputs that can not be switched off by an emergency stop can be switched off delayed by 250 ms. MP4043 Outputs O0 to O15 Input: %xxxxxxxxxxxxxxxx Bits 0 to 15 correspond to O0 to O15 0: Do not switch off output with delay 1: Switch off output with delay MP4044 Outputs O16 to O23 Input: %xxxxxxxx Bits 0 to 7 correspond to O16 to O23 0: Do not switch off output with delay 1: Switch off output with delay MP7224.x has been expanded: MP7224.2 is used to disable the EDIT ON/OFF soft key for specified file types. If the soft key is disabled via MP7224.2 or the file is protected via MP7224.1, the error message Protected file! appears if you press this soft key. Changes to MP7235 (time difference to Universal Time) causes a reset. MP7237.x and MP7238.x have been expanded: The machine parameters support the PLC operating times 9 to 13 (MP7237.x bits 8 to 12, MP7238.8 to MP7238.12).
Releases
1–1
Configuring the axes and spindle
The integrated oscilloscope can be activated via the DIAGNOSIS, DRIVE DIAGNOSIS and OSCI soft keys without using code number 688379. Press the END key to switch from the oscilloscope display to the setup. Entering code number 807667 (PLC programming) followed by the DIAGNOSIS and DRIVE DIAGNOSIS soft keys or code number 688379 (oscilloscope) enables the I CONTROL soft key for adjusting the current controller. The input range for the number of pole pairs in the motor table was expanded from 99 to 999. In the Program Run, Single Block and Program Run, Full Sequence operating modes, press the TOOL USAGE TEST soft key to compare the data in the tool usage file with the data in the tool table. If the tool usage file is not current or does not exist, the error message Generate tool usage file! appears. Otherwise a popup window with the results of the comparison appears.
Machine integration
For each soft key pressed, an entry is made in the log file, including the path to the appropriate image file. The DIAGNOSIS soft key is also available in the PLC Programming operating mode (code number 807667). The NC cyclically monitors the supply voltage and short circuits of the PLC outputs of a PL 510. The diagnosis functions are only available if at least one reference axis has a HEIDENHAIN synchronous motor with electronic ID label attached to it, or Option #14 (DSP Diagnostics) is enabled. Each traverse range uses its own preset table. The preset table of the current traverse range can be viewed in the Manual operating mode. FN17: SYSWRITE and FN18: SYSREAD refer to the active preset table. The maximum number of all dependencies for non-linear axis-error compensation is 15.
PLC programming
Markers M4800 through M4999 are deleted before the first run of the PLC program (after compilation or restarting). The EDIT soft key is available on both rows of soft keys in the main menu of the PLC Programming operating mode. Within the WATCH LIST function, the BEGIN LINE ← and END LINE → soft keys are available. The user interface of the TRACE function and the LOGIC DIAGRAM function were revised: • Editor for selecting markers in the LOGIC DIAGRAM was revised • Soft keys BEGIN ↑, END ↓, PAGE ↑, PAGE ↓ in the TRACE function • Soft keys START TRACE and FREEZE TRACE for starting and stopping the display • Soft keys START LOGIC TRACE and STOP LOGIC TRACE for starting and stopping the TRACE function
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HEIDENHAIN Technical Manual iTNC 530
PLC modules
In Module 9133, the voltage in mV of the buffer battery can be determined with code 3. Calling Module 9203 with < 0 supplies the current resource handle. If Modules 9246 or 9256 are used to write to a line that does not yet exist in a table, the file is filled with blank spaces up to the defined line. If –1 is given as the line number, the next empty line is used. Module 9073 Copying a string to a byte block Module 9073 copies a string into a byte block. The module does not check whether the string consists of valid ASCII characters. The module always copies over the entire programmed length of the byte block, regardless of any string-end code in the byte block. Call: PS PS PS CM
B/W/D/K B/W/D/K B/W/D/K 9073
Error detection:
October 2003
Marker
Value
Meaning
M4203
0
String was copied into byte block
1
Error code in W1022
W1022
1
Invalid target byte
2
Invalid length of the programmed byte block (max. 127 characters)
4
Invalid sum of target byte and length of the byte block
11
Invalid string
NC Software 340 422-xx and 340 480-xx
1–3
Module 9350 Read data from the tool table Module 9350 reads the contents of a cell in the tool table with the status M. The value is read as an integer value. Call: PS PS PS
CM PL PL
1–4
B/W/D/K B/W/D/K ≤ 0: Main entry B/W/D/K 0: Tool length L 1: Tool radius R 2: Not used 3: Replacement tool (–1 if not defined) 4: Not used 5: Maximum tool age TIME1 6: Maximum tool age for TOOL CALL TIME2 7: Current tool age CUR.TIME 8: Tool radius 2 R2 9: Oversize for tool length DL 10: Oversize for tool radius DR 11: Oversize for tool radius 2 DR2 12: Tool locked TL (0=No, 1=Yes) 13: Number of tool teeth CUT. 14: Wear tolerance in length LTOL 15: Wear tolerance in radius RTOL 16: Cutting direction DIRECT. (0=+; 1=–) 17: PLC status PLC 18: Tool offset for length TT: L-OFFS 19: Tool offset for radius TT: R-OFFS 20: Break tolerance for length LBREAK 21: Break tolerance for radius RBREAK 22: Tooth length LCUTS 23: Maximum plunge angle ANGLE 24: Tool number 25: Tool index 26: PLC value PLC-VAL 27: Probe center offset in reference axis CAL-OF1 28: Probe center offset in minor axis CAL-OF2 29: Spindle angle during calibration CAL-ANG 30: Tool type PTYP 31: Maximum speed NMAX 32: Retract tool LIFTOFF 9350 B/W/D B/W/D 0: No error, element value was read 1: Module was not called in a spawn job or submit job 2: File type does not exist 3: No tool table with status M 4: Line number does not exist 5: Incorrect element number
HEIDENHAIN Technical Manual iTNC 530
Error detection: Marker
Value
Meaning
M4203
0
Element value read
1
Error code in W1022
W1022
2
Incorrect element number
7
Line number does not exist
20
Module was not called in a spawn job or submit job
36
No tool table with status M
Module 9351 Write data to tool table Module 9351 writes the contents of a cell in the tool table with the status M. The value must be given as an integer value. Call: PS PS PS PS CM PL
B/W/D/K B/W/D/K –1: Write all indexes of a tool B/W/D/K See Module 9350 B/W/D/K 9351 B/W/D 0: No error, element value was written 1: Module was not called in a spawn job or submit job 2: File type does not exist 3: No tool table with status M 4: Line number does not exist 5: Incorrect element number 6: Element value is out of range 7: Error while writing to the file
Error detection:
October 2003
Marker
Value
Meaning
M4203
0
Element value written
1
Error code in W1022
W1022
2
Incorrect element number
7
Line number does not exist
20
Module was not called in a spawn job or submit job
36
No tool table with status M
NC Software 340 422-xx and 340 480-xx
1–5
Miscellaneous
Cycle 232 (FACE MILLING) is used to face mill rectangular surfaces. Cycles 25x can be used with an inactive tool table. Q366 = 0 (PLUNGE) must be defined in the cycles. For Cycle 251 (RECTANGULAR POCKET), the error message Tool radius too large appears if the corner radius defined in Q220 is less than the tool radius. A new probe cycle in the Manual operating mode finds the distance between two points, as well as the mid-point. All touch probe functions in the Manual mode can also be used by manually touching the workpiece with the tool or other suitable devices. In place of the electronic trigger signal, the probing process can be initiated manually by pressing the actual-position-capture key. Rather than entering a feed rate in a traversing block, you can also enter a time in seconds over which the programmed block is to be traversed. The function is activated with the F T soft key, and is effective blockwise. For operating panels that also feature a rapid traverse potentiometer, the F MAXT soft key is also available. The PLANE function also features the TURN possibility for automatic positioning. As opposed to MOVE, there are no compensating movements of the linear axes when you tilt the rotary axes. Normal and tool directional vectors of LN blocks no longer need to be given standardized to the value 1. A progress indicator appears when sorting block numbers of an ISO machining program. The display of options upon entry of the SIK keyword was revised. An “autorepeat” function is in effect for the PG UP and PG DN keys, as well as for the PAGE ↑ and PAGE ↓ soft keys.
1.3 Hardware There is a new, more powerful MC 422 B for the standard versions of the iTNC 530. With this hardware, the housing, hard disk, and SIK are all supplied separately. Properties of the MC 422 B: Pentium III with 800 MHz 128 MB RAM 133 MHz bus frequency HDR removable hard disk SIK with NC software license X133 omitted, X131 reserved The basic version of the iTNC 530 will still be supplied with the MC 422.
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HEIDENHAIN Technical Manual iTNC 530
Housing with main computer
Main computer (standard version)
Signal inputs
Id. Nr. of MC for BF 120 display unit
Id. Nr. of MC for BF 150 display unit
–
387 173-0x
5 position encoder inputs Position: 1 VPP/EnDat
387 171-0x
387 181-0x
10 position encoder inputs
387 172-0x
387 189-0x
367 224-0x
367 225-0x
Without position encoder – inputs (for CC 424)
–
387 175-0x
5 position encoder inputs Position: 1 VPP/EnDat
–
387 183-0x
10 position encoder inputs
–
387 191-0x
MC 422 B Without position encoder – inputs (for CC 424)
MC 422 (basic version) 5 position encoder inputs Position: 1 VPP/EnDat MC 422 B (with Windows 2000)
October 2003
Hardware
1–7
HDR removable hard disk
HDR hard disk for iTNC 530
Id. Nr.
Export version
387 546-51
Standard version
387 546-01
Export version with Windows 2000
387 545-51
Standard version with Windows 2000
387 545-01
SIK with NC software license
SIK with NC software license
Id. Nr.
Export version with 4 or 7 control loops
389 764-51
Standard version with 4 or 7 control loops
389 764-01
Export version with 5 or 8 control loops
389 764-52
Standard version with 5 or 8 control loops
389 764-02
Export version with 6 or 9 control loops
389 764-53
Standard version with 6 or 9 control loops
389 764-03
Export version with Windows 2000 with 4 or 7 control loops
389 769-51
Standard version with Windows 2000 with 4 or 7 control loops
389 769-01
Export version with Windows 2000 with 5 or 8 control loops
389 769-52
Standard version with Windows 2000 with 5 or 8 control loops
389 769-02
Export version with Windows 2000 with 6 or 9 control loops
389 769-53
Standard version with Windows 2000 with 6 or 9 control loops
389 769-03
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HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 8 1.1 NC Software 340 422-xx and 340 480-xx Several descriptions from Updates 7 and 8 were revised. NC software
Export version
Release
340 422-07
340 423-07
August 2003
340 480-07
340 481-07
August 2003
MP4043 and MP4044 are new: If all PLC outputs are switched off (e.g., during PLC program compilation or due to a PLC run-time error), the outputs that can be switched off by an emergency stop can be switched off delayed by 250 ms. The 24-V supply may not be shut off in an emergency stop. MP4043 Outputs O0 to O15 Input: %xxxxxxxxxxxxxxxx Bits 0 to 15 correspond to O0 to O15 0: Do not switch off output with delay 1: Switch off output with delay MP4044 Outputs O16 to O23 Input: %xxxxxxxx Bits 0 to 7 correspond to O16 to O23 0: Do not switch off output with delay 1: Switch off output with delay NC software
Export version
Release
340 422-06
340 423-06
June 2003
340 480-06
340 481-06
June 2003
Module 9140 Set axis-specific feed-rate limit With Module 9140 you can set axis-specific feed-rate limits. The limits are saved in sequential double words for each axis. The address of the starting double word must be given. Along with a feed-rate value (≥ 0), the following limitations are possible in the double words: –1: Maximum feed rate –2: Axis-specific rapid traverse from MP1010.x –3: Axis-specific manual feed rate from MP1020.x Invalid feed-rate values are set to 0 and M4203, other axes retain their limits. Call: PS PS CM
October 2003
B/W/D/K B/W/D/K 9140
NC Software 340 422-xx and 340 480-xx
1–1
Error detection: Marker
Value
Meaning
M4203
0
Feed-rate limit is set
1
Error code in W1022
W1022
1
Invalid feed-rate value (< –3)
2
Invalid number of axes or double words
3
Invalid block length as of starting address
5
No double word address
24
Module was called in a spawn job or submit job
Module 9141 Read the axis-specific feed-rate limit With Module 9141 you can read axis-specific feed-rate limits. The limits are saved in sequential double words for each axis. Along with feed-rate values (≥ 0), the limitations –1, –2 or –3 (see Module 9140) are also transferred. Call: PS PS CM
B/W/D/K B/W/D/K 9140
Error detection: Marker
Value
Meaning
M4203
0
Feed-rate limit is set
1
Error code in W1022
2
Invalid number of axes or double words
3
Invalid block length as of starting address
W1022
5
No double word address
24
Module was called in a spawn job or submit job
1.2 Hardware A new variant of the MC 422 (standard and basic versions) was released:
1–2
Variant
Changes in MC 422 (standard and basic versions)
xxx xxx-y2
Main computer revised
HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 9 1.1 Releases The following versions of the NC software were released: NC software 340 420-11 and 340 421-11 NC software 340 422-08 and 340 423-08 NC software 340 480-08 and 340 481-08 NC software 340 422-09 and 340 423-09 NC software 340 480-09 and 340 481-09
November 2003 October 2003 October 2003 November 2003 November 2003
1.2 NC Software 340 420-xx NC software
Export version
Release
340 420-11
340 421-11
November 2003
NC software 340 420-11 contains all of the functions of NC software 340 422-09. In the standard setting, datum management via preset tables is deactivated.
1.3 NC Software 340 422-xx and 340 480-xx NC software
Export version
Release
340 422-08
340 423-08
October 2003
340 480-08
340 481-08
October 2003
Configuring the axes and spindle
For the MC 422B, measurement of the CPU temperature via Module 9133 is not possible for the time being.
Machine interfacing
If a service pack is installed, a corresponding information box appears during the Power interrupted message. In OEM.SYS you can use the keyword LOGOSP = to define the complete path of a specific logo that then appears instead of this information. The same conditions apply for the logo as for the standard logo.
December 2003
NC software
Export version
Release
340 422-09
340 423-09
November 2003
340 480-09
340 481-09
November 2003
Releases
1–1
Machine parameters
MP4043, MP4044 and MP4045 have been removed. MP4060.x is new: If all PLC outputs are switched off (e.g., during PLC program compilation or due to a PLC run-time error), the outputs defined in MP4060.x are switched off delayed by the time defined in MP4061.x. The delay only affects outputs that cannot be switched off by emergency stop, since for the outputs that can be shut off by an emergency stop, the 24-V supply is shut off immediately. Input: 0 to 30 –1: Do not switch off output with delay MP4061.x is new: Time period is defined by which the switch-off of the outputs defined in MP4060.x is to be delayed. Input: 0 to 5.000 [s] MP7230.x has been expanded: In MP7230.0 and MP7230.3, the conversational language of the MC 422B (with BF 150) can be set to Chinese by using input value 15. MP7621 is new: Reserved, enter 0. MP7640.x has been expanded: The HR 420 is activated with input value 11. MP7641 has been expanded: Bit 1 – Stepped rotation of HR 420 0: Without detent positions 1: With detent positions Bit 2 – Axis direction keys and rapid traverse on the HR 420 0: Controlled by the NC 1: Controlled by the PLC Bit 3 – NC start / NC stop on the HR 420 0: Controlled by the NC 1: Controlled by the PLC
Configuring the axes and spindle
During the automatic test of the motor brakes the sum of MP1110.x and MP2232.x applies to standstill monitoring. Non-linear axis-error compensation has been improved: • Dependencies between the axes 1 to 14 can be defined. • The maximum possible number of lines is 360. • The spacing of the compensation points can be defined as desired (±999.9999). • If another *.COM file is to be used for the negative direction of traverse, the file name must end with the character "–". Example: Entry in the *.CMA file: Axis_X. The compensation value table Axis_X.COM is used. If the compensation value table Axis_X–.COM exists, it will be used for the negative traverse direction.
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HEIDENHAIN Technical Manual iTNC 530
Machine interfacing
December 2003
The diagnostic functions are no longer optional and can thus be used at any time. The diagnostic functions have been expanded: • After pressing the (Motor) I soft key, general information on control hardware and drive hardware appears. Use the ↑ and ↑ soft keys to select a control loop and to display detailed information. • The EnDat SPEED soft key is used to display the information of absolute speed encoders with EnDat interface. • The EnDat POSITION soft key is used to display the information of absolute position encoders with EnDat interface. • The MOTOR DATA soft key is used to display the motor data from the motor table. • The (Motor) ID LABEL soft key is used to display the electronic ID label of HEIDENHAIN QSY synchronous motors with absolute speed encoder. • The (Power module) ID LABEL soft key is used to display the electronic ID label of HEIDENHAIN UM 1xxD power modules. • The (Motor) TEST soft key is available after you have entered the code number 688379 and before you have acknowledged the Power interrupted message. After pressing the soft key, the Power interrupted message can be acknowledged and the drives can be switched on. The START TEST soft key is used to start an automatic test of the motor and inverter functions. The acknowledgment of an error message is recorded in the log with the entry INFO: MAIN ERRCLEARED as well as the error number and error message. The following markers were introduced for the HR 420: • M4660: HR 420 assumes control • M4661: NC start on HR 420 • M4662: NC stop on HR 420 • M4663: Rapid traverse key on HR 420 • M4664: Spindle start on HR 420 • M4665: Spindle stop on HR 420 • M4666: + key on HR 420 • M4667: – key on HR 420 • M4668: Ctrl key on HR 420 The marker M4057 is set during a touch probe cycle and reset when the touch probe cycle is canceled. To support the marker, FN17: SYSWRITE ID990 NR2 was expanded: • 0.0: Touch probe monitoring off. M4057 is not used. • 1.0: Touch probe monitoring on. M4057 is not used. • 2.0: Touch probe monitoring off. M4057 is used. • 3.0: Touch probe monitoring on. M4057 is used.
NC Software 340 422-xx and 340 480-xx
1–3
PLC programming
1–4
The number of strings was increased from 16 to 100 (S0 to S99). FN17: SYSWRITE ID503 NR IDX is used to enter a value in the preset table. If M4753 is set, errors from PLC modules will be entered in the PLC log PLCDEBUG.LOG. There is a separate log for PLC events under PLC:\PLCDEBUG.LOG. The following events are entered: • Start of the PLC after switch-on. • Start and stop of the PLC. • Errors from PLC modules (only if M4753 = 1). • Run-time errors Symbolic operands can be used in the mask files for PLC windows. The Config. file for conditional compilation can be selected with the SELECT + COMPILE and SELECT COMPILER CONFIG. soft keys. PLCCOMPCFG = is automatically entered in OEM.SYS. For newly supplied MC 422B, new partition sizes of the hard disk are supported: Partition MC 422 B
MC 422 B (with Windows 2000)
C:
–
12.97 GB
TNC:
25.87 GB
12.97 GB
PLC:
948.86 MB
957.00 MB
SYS:
956.70 MB
957.00 MB
HEIDENHAIN Technical Manual iTNC 530
PLC modules
Module 9007 for determining the number of connected PLs (diagnostic information of PL 4xxB) now also supports the PL 510. Module 9137 (diagnostic information of the PL 510) was extended by information 12 (number of connected PL 510). Module 9221 (start PLC positioning) was extended by error code 6 (PLC positioning of axis already started). Module 9084 Display PLC error messages with additional data With Module 9084 you can display PLC error messages with additional data. You can insert place holders (%s, %d, %f) at any position of the error messages. The place holders are assigned the data from the module at run time. Only those place holders that are defined in the PLC error message will be replaced. %s is replaced by the string or the string content. The first occurrence of %d or %f in the PLC error message is replaced by the content of variable 1, and the second occurrence of %d or %f is replaced by the content of variable 2. %d is an integer, %f is a floating point number with three decimal places. Alternately, you can define the number of decimal places with %.1f to %.6f. If the module is called several times with the same line number of the *.PET table, the error message is entered only once in the queue. A maximum of 32 PLC error messages can be entered in the queue. If necessary, the error marker assigned is set. If the *.PET table or the line number is not found, the error message PLC ERROR appears. Call: PS PS PS PS CM
B/W/D/K 0 to 999: Line number B/W/D/K/S B/W/D/K B/W/D/K 9084
Error recognition:
December 2003
Marker
Value
Meaning
M4203
0
PLC error message with additional data displayed
1
Error code in W1022
W1022
1
Line number not available
8
Incorrect operating mode, compatibility error marker set
23
Overflow of PLC error message queue
NC Software 340 422-xx and 340 480-xx
1–5
Module 9277 Writing data into the OEM log With Module 9277 the PLC can write data into a specific OEM log. Up to eight OEM logs can be used at the same time. The module can be called from a cyclic PLC program or from a spawn job or submit job. The string for the log entry may contain two place holders (data1 and data2). Only specified place holders will be replaced. The output format is controlled through the entry %d for integers or the entry %f for floating point numbers with three decimal places. Alternately, you can define the number of decimal places with %.1f to %.6f. Example of a string for the log entry: S“data1: %.2f data2: %d“ If the maximum log size of 1 MB is exceeded, the log is copied to .LOG.OLD and a new log with the same name is created. Once the logs have been called, they remain open until the control is shut down. Call: PS PS PS PS PS
CM
B/W/D/K/S B/W/D/K/S B/W/D/K B/W/D/K B/W/D/K Bit 0 = 0/1: Entry without/with time stamp Bit 1 = 0/1: Entry without/with PLC cycle counter 9277
Error recognition: Marker
Value
Meaning
M4203
0
Data written into OEM log
1
Error code in W1022
2
Invalid string number or invalid string
22
Message cannot be transmitted
W1022
1–6
HEIDENHAIN Technical Manual iTNC 530
Module 9322 Information of the current NC program With Module 9322, you can determine the current block number of the active NC program. If the module is called from the cyclic PLC program, only the block number of the NC main program is determined. If the module is called from a spawn job or submit job, the path of the current NC program is determined in addition to the block number (from the block scan). Call: PS
PS CM PL
B/W/D/K Call from a cyclic PLC program: Without effect. Call from a spawn job or submit job: 0: String and block number refer only to the active NC main program. Block number from block scan. 1: String and block number refer to the active NC program (also subprogram, cycle or macro). Block number from block scan. B/W/D/K Call from a cyclic PLC program: Without effect. 9322 B/W/D
Error recognition:
December 2003
Marker
Value
Meaning
M4203
0
Information of current NC program has been read
1
Error code in W1022
W1022
1
Invalid mode
2
Invalid string number
NC Software 340 422-xx and 340 480-xx
1–7
Other functions
With the MC 422B, improved graphic display is available. Four soft keys are available for setting the speed for graphic simulation in the Test Run mode. With the projection in three planes in Test Run mode, the horizontal plane of a section starts at the top edge of the workpiece. After you have pressed the MOD key in the Programming and Editing mode of operation, the soft key for installing the service pack will be displayed. If more than one PLC error message occurs, you can display a list of them with the ERR key. With Cycle 8 (MIRROR IMAGE), you can now also program rotary axes as mirror axes. Old TNC 4xx programs were executed correctly before, but up to now it was not possible to program rotary axes as mirror axes. If you want to copy an externally prepared tool table, you now have the additional possibility of overwriting only those lines in TOOL.T that do not contain any data. For this purpose the REPLACE ONLY EMPTY LINES soft key has been introduced. Pressing the GOTO key in a DIN/ISO program no longer results in the control displaying the message GOTO line xxx jumped yyy.
1.4 Hardware 1.4.1 TS 640
TS 640 touch probe
TS 640
SE 640
Touch-trigger probe with infrared transmission, for workpiece setup and measurement during machining. Id. Nr. 359 575-xx TS 640 Id. Nr. 377 686-xx SE 640 transmitterreceiver unit
1–8
HEIDENHAIN Technical Manual iTNC 530
1.4.2 HR 410 There are new variants of the HR 410: HR 410
Changes
296 469-54
Revision
296 549-55
Revision
1.4.3 HR 420
HR 420 handwheel Portable handwheel with display and stepped rotation Id. Nr. 375 239-xx
HR 420 handwheel
As of software version 340 422-09 or 340 480-09, the following functions are provided: Switching between the HR 420 and the control operating panel. Operation through the control operating panel is disabled. Spindle-speed and feed-rate override potentiometer on the HR 420. Status displays on the HR 420: • Axis selection and display of the axis with position. • Display of control-in-operation symbol, errors, symbol for tilted working plane. • Display of spindle speed and feed rate. • Display and change of infeed per rotation step. • Setting of jog increment. • NC start, NC stop, rapid traverse, axis movements in the positive and negative direction. • Spindle start and spindle stop. • Actual position capture in MDI mode. • Entry and execution of M/S/F. • Datum setting. • Switching of operating modes. • During an NC stop: Internal stop or manual traverse and return to positions. December 2003
Hardware
1–9
1 – 10
HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 10 1.1 Releases The following versions of the NC software were released: NC software 340 422-10 and 340 423-10 NC software 340 480-10 and 340 481-10
May 2004 May 2004
The following service packs for 340 422-09 and 340 423-09 were released: Service pack 1: 340 500-01 and 340 501-01 Service pack 2: 340 500-02 and 340 501-02
December 2003 March 2004
The following service packs for 340 480-09 and 340 481-09 were released: Service pack 1: 340 502-01 and 340 503-01 Service pack 2: 340 502-02 and 340 503-02
December 2003 March 2004
1.2 NC Software 340 422-xx and 340 480-xx Service pack
NC software
Export version
Release
340 500-01
340 422-09
340 423-09
December 2003
340 502-01
340 480-09
340 481-09
December 2003
Error messages entered more than once in the log are identified with Info: MAIN ERR_RECURRED. PLC error messages triggering an Emergency Stop are entered with the highest priority (independent of the priority from the *.PET table) in the error list. Therefore, these error messages always appear in the first position. The error message External EMERGENCY STOP has a lower priority, but still a higher priority than the top PLC priority. This means that PLC error messages triggering an Emergency Stop always appear in the first position in the error list. They are followed by External EMERGENY STOP and then by further PLC error messages. Cycle 32 (TOLERANCE) is reset depending on MP7300 (status display).
May 2004
Service pack
NC software
Export version
Release
340 500-02
340 422-09
340 423-09
March 2004
340 502-02
340 480-09
340 481-09
March 2004
NC software
Export version
Release
340 422-10
340 423-10
May 2004
340 480-10
340 481-10
May 2004
Releases
1–1
Machine parameters
1–2
The PLC can change MP10 even while an NC program is running (PLC, RUN). The maximum input value for MP331.x and MP332.x has been increased to 1.797693135E+308. Large input values cannot be read by the PLC! MP1096 has been expanded: MP1096.0 specifies the tolerance at corners at machining feed rate. This value can be overwritten by the machine user with Cycle 32. MP1096.1 specifies the tolerance at corners at rapid traverse. This value cannot be influenced by the machine user. MP1522 is new: In addition to the nominal position value filters, MP1522 allows you to activate feed-rate smoothing. This smoothes jerks caused by a change in the feed rate. This reduces the machine’s tendency to vibrate, without significantly increasing the machining time. MP1522 should be approx. 0.5 ... 1 ⋅ TMachine (TMachine = Period of resonant frequency of machine). Example: fMachine = 50 Hz; TMachine = (1 / 50 Hz) = 20 ms; MP1522 = 20. Since feed-rate smoothing results in an increase in speed at corners, the jerk must be adjusted (if necessary) to prevent damage to the contour. Input: 0 to 60 [ms] MP2195 has been expanded: Bit 0 – Handling of status signals from HEIDENHAIN power supply units that are already inactive during control start-up. (Signals that change their status during operation are always identified as errors.) 0: Missing signals cannot be detected with Module 9066 and do not result in an error message when the drive is switched on. 1: After the PLC program has been compiled, missing signals can be detected with Module 9066 and trigger an error message when the drive is switched on. Signals that are not provided by the power supply unit must be suppressed with MP2195 (bit 1 to bit 6), because non-existent signals are always identified as errors. The input range for MP2542.x to MP2546.x was increased to 0 to 99.0 [dB]. The input range for MP2552.x to MP2556.x was increased to 0 to 30000.0 [Hz]. MP2562.x to MP2566.x were expanded: The filters can be used in the position or speed controller. The kV factor can be increased by using the filters in the position controller. After the kV factor has been increased up to the oscillation limit, a band-rejection filter can be defined for the oscillation frequency so that the kV factor can be further increased. Input: 1 = PT2 low-pass filter (speed controller) 2 = Band-rejection filter (speed controller) 11 = PT2 low-pass filter (position controller) 12 = Band-rejection filter (position controller) The input range for MP2572.x to MP2576.x was increased to 0 to 30000.0 [Hz]. MP5000 was expanded: Input value 3 allows you to disable the serial interfaces RS-232-C/V.24 and RS-422/V.11. MP5020.3 and MP5030.3 expanded for EXT4 (PLC) operating mode. MP5040 was expanded: MP5040.0 Data transfer rate in operating mode EXT3 MP5040.1 Data transfer rate for operating mode EXT4 MP7230.x was expanded: 14: Russian (with Cyrillic character set) 15: Chinese (simplified) 16: Chinese (traditional) These languages are available only with the MC 422B with BF 150. HEIDENHAIN Technical Manual iTNC 530
MP7363.5 is new: Rapid traverse movements in the programming graphics are displayed with the color from MP7363.5. MP7460.x and MP7461.x are new: Reserved, input value: 0 MP7680 was expanded: Bit 15 - Suppress NC Start if the program is aborted A corresponding message window appears. NC Start is available after you have pressed the YES soft key, after program selection or after GOTO. 0: Function inactive 1: Function active Configuring the axes and spindle
Axes for which master-slave torque control is active can be switched to single-axis operation during operation by overwriting MP850.x. Cycle 32 (TOLERANCE) is reset depending on MP7300 (status display). PLC positioning is done without nominal position value filter. The maximum braking power from MP2390.x may be greater than the power limit from MP2392.x. Up until now, the maximum braking power was limited to the value of the power limit. During a powerfail the braking time before switch-off of the drives has been extended to 10 s. The motor table has been expanded for a new 2nd order I2t monitoring. 2nd order I2t monitoring is not needed for most of the motors. For these motors, the entry from the T-AC column can be transferred to the Tth2 column. In this case, 1st order I2t monitoring is used. New columns in the motor table: • Tth1: Thermal time constant for winding [s] • Rth1: Thermal resistance between winding and lamination [K/W] • Tth2: Thermal time constant for lamination [s] • Rth2: Thermal resistance between lamination and cooling system [K/W] A step can be output in the integrated oscilloscope only after the code number 688379 or 807667 has been entered. The integrated oscilloscope has been expanded with the following signals: • F TCPM: Feed rate for the tool point with M128 (feed rate without compensation motions) • int. diagn.: Reserved for internal purposes In the integrated oscilloscope, the cursor is located on the trigger point only if it has not been moved after the measurement. If the cursor has been moved, it will remain at the point of the time axis to which it has been moved. The cursor does not return to the trigger point until a trigger parameter has been changed. The CC 424 supports backlash compensation via MP750.x and MP752.x.
Machine interfacing
May 2004
A PLC soft key that is disabled in the soft-key project file with ENABLE: appears dimmed (inactive). In the soft-key project file, conditional compilation with #if ... #endif and #ifdef ... #endif is possible. For test purposes, all LSV-2 telegrams can be entered in the log. After entering the code word LOGBOOK, this function must be enabled with the LSV-2 TELEGRAM OFF/ON soft key. Error messages entered more than once in the log are identified with Info: MAIN ERR_RECURRED.
NC Software 340 422-xx and 340 480-xx
1–3
If M4754 is set, internal diagnostic information is entered in the log MYDEBUG.LOG. The marker should be set only for debugging purposes. Otherwise, unnecessary access to the hard disk will put a strain on the system. The speed-encoder test has been added to the diagnostic functions. This soft key is available after you have entered the code number 688379 and before you have acknowledged the Power interrupted message. After pressing the soft key, the Power interrupted message can be acknowledged and the drives can be switched on. The START TEST soft key is used to start an automatic test of the speed encoder. The display of analog signals contained in the diagnostic functions for the drive also shows the motor temperatures with the designation of the control loop. The following commands can be used in the print masks for the measurement log in the manual touch probe cycles: • mm_display: The following values are displayed only if under MOD Change MM/INCH is set to MM. • inch_display: The following values are displayed only if under MOD Change MM/INCH is set to INCH. • all_display: The following values are displayed regardless of the setting in MM/INCH under MOD. If M4622 is set during the first run of the PLC program, the message window Waiting for M4622 appears after the reference marks have been traversed. The window does not disappear until you have reset M4622. In this way, you can delay the execution of the NC macro defined through RESETINIT = in the NCMACRO.SYS. The source of error is displayed in the new column Group of the error list (to be called with the ERR key). • GENERAL • OPERATING • PROGRAMMING • PLC PLC error messages triggering an Emergency Stop are entered with the highest priority (independent of the priority from the *.PET table) in the error list. Therefore, these error messages always appear in the first position. The error message External EMERGENCY STOP has a lower priority, but still a higher priority than the top PLC priority. This means that PLC error messages triggering an Emergency Stop always appear in the first position in the error list. They are followed by External EMERGENY STOP and then by further PLC error messages. New PLC operands:
M4223 M4227 M4228 M4229
1–4
Error from PET table with NC Cancel active PLC error message with priority 0 (error) PLC error message with priority 1 (warning) PLC error message with priority 2 (info)
Set
Reset
NC
NC
NC
NC
NC
NC
NC
NC
HEIDENHAIN Technical Manual iTNC 530
PLC programming
The function TRACE IN-CODE will also be available on an external PC with PLCdesignNT. The search function of the TRACE function has been improved. In the TRACE and TABLE functions, you can use the ADD TO WATCH LIST soft key to transfer the selected operand into the WATCH LIST. In the TABLE function the symbolic name of an operand can be entered with GOTO. The WATCH LIST function has been expanded: • The ADD TO LOGIC DIAGRAM soft key allows you to transfer the selected operand into the logic diagram. • A search function is available. First the SYMBOL column and then the ADDR column is searched for the search string. • The HEX ↔ DECIMAL soft key allows you to change the number representation. The following information has been added to FN18: SYSREAD ID51: • NR6: Type of tool (PTYP) • NR7 to NR11: Value 1 (P1) to value 5 (P5) • NR12: Pocket reserved (RSV) • NR13: Pocket above locked (LOCKED_ABOVE) • NR14: Pocket below locked (LOCKED_BELOW) • NR15: Pocket at left locked (LOCKED_LEFT) • NR16: Pocket at right locked (LOCKED_RIGHT)
May 2004
NC Software 340 422-xx and 340 480-xx
1–5
PLC modules
Module 9217 (pop-up window for messages) supplies error code 36 in W1022 if there is no ASCII file with the message text. A window shown with Module 9217 (pop-up window for messages) can be closed with Module 9261 (sending of events) through event $010000. Transfer parameter 2 (from MP50x0.3) has been added to Module 9100 (assign the data interface). Module 9179 Status information about spindle(s) Status information about the spindles can be ascertained with Module 9179. Call: PS PS CM PL
B/W/D/K B/W/D/K 0: Active spindle ("Number of spindle" is not evaluated) 9179 B/W/D
Error recognition:
1–6
Marker
Value
Meaning
M4203
0
Status information has been ascertained
1
Error code in W1022
W1022
1
Invalid code for status information
2
Invalid spindle number
HEIDENHAIN Technical Manual iTNC 530
Module 9282 Tool usage test for pallet table Module 9282 allows you to check the tools used in a pallet table. The pallet file must be selected in the Program Run, Single Block or Program Run, Full Sequence operating mode. The tool usage file for the pallet table and the test result file in ASCII format are created. The test result file contains the results from the comparison of the tool usage file with the tool table. If a pallet call is given as the line number, all subordinate machining operations are checked. If a program call is given, only the tool usage file of the NC program is checked. Call: PS PS PS CM PL
B/W/D/K B/W/D/K/S B/W/D/K/S 9282 B/W/D 0: No error 1: Tool usage file of an NC program of the pallet table not available or no longer up-to-date 2: Tool life not sufficient 3: Required tool not available 4: Radius of required tool is incorrect 5: Tool is not in magazine 6: Tool usage file of an NC program of pallet table cannot be opened 7: Test result file could not be created 8: Test result file cannot be written to 9: Tool usage file of an NC program of pallet table cannot be read 10: No memory for creating the tool usage file
Error recognition: Marker
Value
Meaning
M4203
0
Tool usage test has been performed
W1022
May 2004
1
Error code in W1022
11
Invalid string programmed
20
Module was not called in a spawn job or submit job
NC Software 340 422-xx and 340 480-xx
1–7
Module 9343 Compilation and activation of magazine rules Module 9343 is used to compile and activate magazine rules (*.TCR), independent of the entry TCHRULES = in OEM.SYS. If the entry exists in OEM.SYS, the magazine rules are overwritten when Module 9343 is called. If an error occurs during compilation, the PLC program is stopped. The magazine rules must be activated during the first run of the PLC program or before the first call of Module 934x. Call: PS CM
B/W/D/K/S 9343
Error recognition: Marker
Value
Meaning
M4203
0
Magazine rules have been compiled and activated
1
Error code in W1022
W1022
Other functions
1–8
11
Invalid string programmed
20
Module was not called in a spawn job or submit job
38
Error during compilation
The TOOL USAGE TEST soft key is also available for pallet tables. If a line with an NC program is active, the test is performed only for the NC program in question. If a line with a pallet entry is active, the test is performed for the complete pallet table. If the time programmed in AUTOSTART is in the past, the error message Starting time has passed appears. The Czech conversational language has been added to the measuring logs of the touch probe cycles. Several IP addresses for the control can be defined in a table. The active IP address is selected with the ACTIVATE LINE soft key. When you insert new lines in a table, a display of progress appears if required. In the programming graphics, the SHOW OMIT BLOCK NO. soft key allows you to show or hide the block numbers. The soft keys of the search function have been improved. The last defined speed for graphic simulation in the Test Run mode also remains in effect if the control is restarted. With some input functions (e.g. tool selection lists with Module 9216), the RETURN key can be used instead of the ENT key. A list of PLC operands with brief description in English and German (GLB_NC_de.DEF, GLB_NC_en.DEF) is contained in the control under PLC:\JH\. In the freely definable tables (e.g. *.P, *.CDT, *.TAB), English dialogs are shown instead of the Russian dialogs. M114 is effective locally in cycles, i.e. the function is canceled before the return to the main program. If you want M114 to also be effective in the main program, you must use FN17: SYSWRITE ID420 NR0 IDX0 = 0 (globally effective coordinate transformation). Rotary axes can be programmed within an “M120 sequence.” A maximum of eight datum shifts and six scaling factors can be shown in the status display. Mirrored axes are displayed in sequence one after another. This means that six axes can be displayed. HEIDENHAIN Technical Manual iTNC 530
When entering data in screen forms (e.g. axis selection in the oscilloscope), you can use the ENT key to scroll forward and the NO ENT key to scroll backward. When a touch probe cycle is called in the Manual Operation and El. Handwheel operating modes, and the current angles of the swivel axes do not coincide with those in the Tilt working plane function, the error message Axis angle not equal tilt angle appears. With the PROBING ROT cycle, this warning can be acknowledged and the cycle can be executed. Enter information into the log with FN38: SEND. The function is available after you have entered the code number 555343. Example: • NC program: FN38: SEND /“Q parameter Q1: %f Q2: %f“ /+Q1 /+Q2 • Entry in the log from the Program Run, Single Block or Program Run, Full Sequence operating mode: INFO: MAIN NCEVENT Q parameter Q1: Q2: • Entry in the log from the Test Run operating mode: INFO: MAIN NCTEVENT Q parameter Q1: Q2: A maximum of three axes can be entered in Cycle 8 (MIRRORING). Parameter Q208 (FEED RATE FOR RETRACTION) has been added to Cycle 22 (ROUGH-OUT). Parameter Q21 (TOLERANCE) has been added to Cycle 28 (CYLINDER SURFACE) so that a slot with approximately parallel walls can be produced with a tool whose diameter must be smaller than the width of the slot. Traverse after machining depends on MP7420 bit 4. Cycle 29 (CYL. SURFACE RIDGE) allows you to machine a ridge on a cylinder surface. Cycle 39 (CYL. SURFACE CONTOUR) allows you to machine an open outside contour on a cylinder surface.
1.3 Additional Enhancements to NC Software 340 480-xx Hard disks with NC software 340 480-10 supplied by HEIDENHAIN include Microsoft Service Pack 4 for Windows 2000 and Microsoft Patch KB835732. If you already have a hard disk, you can install these expansions at any time. Soft keys can be selected and soft-key rows can be switched by clicking the mouse. The Log Files button has been added to the iTNC Control Panel. This button is reserved for HEIDENHAIN diagnostic purposes. The start and shut-down of the control software is recorded in a log for internal diagnostic purposes.
May 2004
Additional Enhancements to NC Software 340 480-xx
1–9
1.4 Hardware There is the new, more powerful hardware MC 420 for the basic versions of the iTNC 530. With this hardware, the housing with the main computer, the hard disk and the SIK are all supplied separately. Properties of the MC 420: Celeron with 400 MHz 128 MB RAM 100 MHz bus frequency HDR removable hard disk SIK with NC software license One USB interface Only PL 510 connectable (and not PL 410B / PL 405B) Maximum of 6 control loops with the CC 422 Housing with main computer
Main computer (basic version) 5 position encoder inputs
1 – 10
Signal inputs
Id. Nr. of MC for BF 120 display unit
Position: 1 VPP/EnDat –
Id. Nr. of MC for BF 150 display unit 515 929-01
HEIDENHAIN Technical Manual iTNC 530
HDR hard disk HDR hard disk for iTNC 530
Id. Nr.
Export version
387 546-51
Standard version
387 546-01
SIK with NC software license SIK with NC software license
Id. Nr.
Export version with 4 control loops without software options 1 + 2
510 085-51
Standard version with 4 control loops without software options 1 + 2
510 085-01
Export version with 5 control loops without software options 1 + 2
510 085-52
Standard version with 5 control loops without software options 1 + 2
510 085-02
Export version with 6 control loops without software options 1 + 2
510 085-53
Standard version with 6 control loops without software options 1 + 2
510 085-03
Options Option
Id. Nr.
1st additional control loop
354 540-01
2nd additional control loop
353 904-01
Software option 1
367 591-01
Software option 2
367 590-01
May 2004
Hardware
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1 – 12
HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 11 1.1 Releases The following service pack for 340 422-10 and 340 423-10 was released: Service pack 1: 531 482-01 and 531 483-01
September 2004
The following service pack for 340 480-10 and 340 481-10 was released: Service pack 1: 531 484-01 and 531 485-01
September 2004
The following versions of the NC software were released: NC software 340 422-11 and 340 423-11 NC software 340 480-11 and 340 481-11 Service pack 1: 340 422-11 and 340 423-11 Service pack 1: 340 480-11 and 340 481-11 Service pack 2: 340 422-11 and 340 423-11 Service pack 2: 340 480-11 and 340 481-11
August 2004 August 2004 September 2004 September 2004 September 2004 September 2004
1.2 NC Software 340 422-xx/340 423-xx and 340 480-xx/340 481-xx Service pack
NC software
Release
531 482-01
340 422-10
September 2004
531 483-01
340 423-10
September 2004
531 484-01
340 480-10
September 2004
531 485-01
340 481-10
September 2004
Under certain conditions, at the end of the cycle the machine moves to the center of the cylinder during execution of Cycle 28 (CYLINDER SURFACE). This applies to machines with rotary table and the entry PRESETTABLE = OFF in the OEM.SYS. NC software
Export version
Release
340 422-11
340 423-11
August 2004
340 480-11
340 481-11
August 2004
This is the first NC software to support the MC 420.
October 2004
Releases
1–1
Machine parameters
MP2210.x is new (only CC 424): Some of the asynchronous spindle motors require a high magnetizing current at low speeds (n < nfield weakening). This magnetizing current can, however, lead to thermal motor problems at the rpm for field weakening. MP2210.x enables you to reduce the nominal voltage (and, as a result, the nominal magnetizing current) at the rpm for field weakening during idle running. The maximum nominal voltage is reached when n = 3 · nfield weakening. The nominal voltage can be reduced by max. 60 % (MP2210.x = 60). Input: 0 to 99 [%] 0: Function inactive
Unominal
MP2210.x
nfield weakening
n 3 · nfield weakening
MP2211.x is new (only CC 424): Reserved, enter 0 MP7310 was expanded: Bit 5—The 3-D graphics (with representation of 5-axis machining) can also be deactivated with the MC 422B and MC 420. 0: Permit 2.5-D and 3-D graphics (also depends on hardware) 1: Permit only 2.5-D graphics (independent of hardware) MP7610.x is new (only CC 424): Reserved, enter 0 MP7691 was expanded: Diagnosis functions for the HeROS operating system. Can only be evaluated by HEIDENHAIN. Set MP7691.x = 0. PLC programming
1–2
If the highlight is located in the WATCH LIST in the SYMBOL column or ADDR column, the ORDER soft key can be used to sort the WATCH LIST by the respective column.
HEIDENHAIN Technical Manual iTNC 530
PLC modules
Module 9149 Set/Read commutation angle Module 9149 enables you to determine and set the commutation angle of a synchronous, torque or linear motor. For axes that cannot be moved when switched off (e.g. due to Hirth coupling), Module 9149 can be used to read out the commutation angle of the position at shutdown. The PLC can then store it in nonvolatile memory. After restarting the control, you can use the module to again set the commutation angle— which is stored in nonvolatile memory—for the axis concerned. This means that it is not necessary to determine the commutation angle again. Danger After the axis has moved away from the position at shutdown, the commutation angle is no longer valid and must no longer be used. When the control is shut down the next time, the commutation angle of the position at shutdown must be read out and stored again. Safety precautions: The commutation angle may be set only after you have ensured that the stored commutation angle corresponds to the current position (e.g. due to Hirth coupling). The module is suitable only for synchronous, torque, or linear motors in conjunction with nonaligned encoders without EnDat interface. The module responds with a value only if the reference mark has been traversed. The commutation angle for an axis can be set only once after the control is switched on and before the drives are first switched on. Call: PS PS PS
CM PL
PL
October 2004
B/W/D/K B/W/D/K 1 to 720000 B/W/D/K 0: Read commutation angle 1: Set commutation angle 9149 B/W/D 0: Commutation angle set/read 1: Module was not called in a spawn job or submit job 2: Invalid mode 3: Invalid axis number 4: Invalid commutation angle Error code from controller when mode 0 is active (read commutation angle): 100: Unknown reference position Error code from controller when mode 1 is active (set commutation angle): 200: Invalid motor type (no synchronous or linear motor) 201: Invalid encoder type (not “non-aligned”) 202: Invalid commutation angle 203: Commutation angle already set B/W/D
NC Software 340 422-xx/340 423-xx and 340 480-xx/340 481-xx
1–3
Error recognition:
Other functions
Marker
Value
Meaning
M4203
0
Commutation angle set/read
1
Error code in W1022
W1022
1
Invalid mode
2
Invalid axis number
20
Module was not called in a spawn job or submit job
45
Error code from controller
Cycle 247 (SET DATUM), FN25: PRESET and FN17: SYSWRITE ID530 can also be used during a block scan. The conversational language Russian with Cyrillic characters can also be set when the BF 120 visual display unit and the MC 422 are used. Two text files are stored in the directories PLC:\LANGUAGE\GERMAN\ and PLC:\LANGUAGE\ENGLISH\. The file jh_error.txt contains all possible error messages and the file jh_error_help.txt contains the corresponding help texts. The speed for graphic simulation is displayed each time a simulation is started in the Test Run mode. When touch probe cycle 0 (REFERENCE PLANE) is used in conjunction with a rotary axis with modulo display, the maximum length of the probing path is limited to the modulo value from MP810.x and the measuring point is always approached in the probing direction (the probe retracts in the direction opposite to the probing direction). If the HR 420 is used, the smaller of the values set for the TE or HR 420 is used for the spindle or feed-rate override in all modes of operation, except the Manual mode. NC software
Release
Service pack 1 for 340 422-11and 340 423-11
September 2004
Service pack 1 for 340 480-11and 340 481-11
September 2004
An old value may be read when a customized FN function is used for reading data from the tool table. As a result, in customized measuring cycles, the measurement values determined were not taken into account in the geometry. NC software
Release
Service pack 2 for 340 422-11and 340 423-11
September 2004
Service pack 2 for 340 480-11and 340 481-11
September 2004
1.3 Additional Enhancements to NC Software 340 480-xx/340 481-xx Hard disks with NC software 340 480-11 supplied by HEIDENHAIN include the following Microsoft Patches: KB823559, KB824105, KB823182, KB826232, KB828035, KB825119, KB828749, KB828741, KB837001, KB842526, KB841872, KB841873, KB840315, KB839645. If you already have a hard disk, you can install these expansions at any time.
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HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 12 1.1 Releases The following service packs for 340 422-11 and 340 423-11 were released: Service pack 3: 340 422-11 SP3 and 340 423-11 SP3 October 2004 Service pack 5: 340 422-11 SP5 and 340 423-11 SP5 November 2004 The following service packs for 340 480-11 and 340 481-11 were released: Service pack 3: 340 480-11 SP3 and 340 481-11 SP3 October 2004 Service pack 5: 340 480-11 SP5 and 340 481-11 SP5 November 2004 The following versions of the NC software were released: NC software 340 490-01 and 340 491-01 NC software 340 492-01 and 340 493-01
November 2004 November 2004
1.2 NC Software 340 422-xx/340 423-xx and 340 480-xx/340 481-xx
November 2004
Service pack
NC software
Release
340 422-11 SP3
340 422-11
October 2004
340 423-11 SP3
340 423-11
October 2004
340 480-11 SP3
340 480-11
October 2004
340 481-11 SP3
340 481-11
October 2004
Service pack
NC software
Release
340 422-11 SP5
340 422-11
November 2004
340 423-11 SP5
340 423-11
November 2004
340 480-11 SP5
340 480-11
November 2004
340 481-11 SP5
340 481-11
November 2004
Releases
1–1
1.3 NC Software 340 490-xx/340 491-xx and 340 492-xx/340 493-xx Warning This NC software is executable only on the MC 422B and the MC 420, each with 128 MB of RAM. The BF 120 (resolution: 640 x 480 pixels) is no longer supported. New options
1–2
The following options are enabled by entering a code number. HEIDENHAIN can give you the code number after having been informed of the SIK number. Option
Description
#18
Access to control functions via the COM component 526 451-01 (HEIDENHAIN DNC)
ID number
#41
Enabling of additional dialog languages (please contact HEIDENHAIN if you require additional dialog languages)
530 184-01
#53
Feature Content Level, see page – 20
529 969-01
HEIDENHAIN Technical Manual iTNC 530
Notes on the software exchange
When updating the NC software from 340 422-xx to 340 490-01, keep the following points in mind (the same applies to the dual-processor control and to export versions): The machine parameters of the nominal position value filters (MP1094 to MP1099.x) were restructured and shifted to MP12xx. See page 1–3. If you overwrite the PLC values of the nominal position value filters, the PLC program must be adapted to the new machine parameters. The old nominal position value filters (MP1094 to MP1099) can be reactivated by entering MPMODE = 340422 in the OEM.SYS file. MP12xx then have no effect. The kinematics can now be configured only via kinematics tables. Machine parameters MP7500, MP7510.x, MP7520.x, MP7530.x and MP7550.x were removed. No special adaptations to the PLC program are required for working with the new smarT.NC operating mode. If smarT.NC is active, marker M4163 (smarT.NC active) is set. For NC software versions up to 340 422-xx there is an internal connection between the feed-rate and rapid-traverse overrides. For example, if the value of the feed-rate override was manipulated via the PLC, this also had an effect on the rapid traverse. This connection was removed starting with NC software 340 490-01. In contrast to NC software 340 422-xx, a manipulation of W766 (% factor for feed-rate override) does not affect rapid traverse movements. Word W752 (rapid traverse potentiometer) is also effective if bit 5 is not set in MP7620. Note You might have to make changes to your PLC program. If you want to keep an existing OEM cycle project during software exchange, you must first adapt the project. The reason is that because it is now possible to freely assign file names of parameters, new file names were defined for some standard parameters. Proceed as follows: • Download and install the current CycleDesign software version 4.0.260 from the HEIDENHAIN FileBase • Open the existing CycleDesign project with the current CycleDesign version 4.0.260 • Menu item File > Change variant... • In the New variant pull-down menu, select the entry 34049001 and confirm with OK • Confirm also the subsequent Update Information with OK • Menu item File > Save • Then transfer the file to the control or generate an installation and check its functions. Warning Without this procedure, after a software update to the version 340 49x the error message “Key nonfunctional” will appear when you press the CYCL DEF key
November 2004 NC Software 340 490-xx/340 491-xx and 340 492-xx/340 493-xx
1–3
Machine parameters
MP12 is new: NC axes can be switched axis-specifically into demo mode with MP12. The demo mode enables the simulation of axis motors that are not present on the machine. This permits you to put into operation and test axes that have not yet been mounted on the machine. The PLC program of the machine might need to be adapted. Input: Bits 0 to 13 represent axes 1 to 14 0: Demo mode not active 1: Demo mode active The control is not restarted if MP210 (direction of the encoder signals of the position encoder) is changed. The axis must be moved over the reference mark again after this change. MP709.x is new: MP709.x is used to influence the output of the backlash compensation (MP710.x). Input: 0: Previous behavior of MP710.x 1 to 1000: Time constant [ms]
MP710.x
Nominal value Reversal point MP709.x: Small input value MP709.x: Large input value MP709.x = 0
Nominal value
MP1094 to MP1099 were shifted: The machine parameters of the nominal position value filters were restructured, expanded and set to MP12xx. The filters are now selected with MP1200 / MP1201. The limit frequencies are set for each filter separately via MP1210 to MP1213. The previous nominal position value filters MP1094 to MP1099.xx can be reactivated with the MPMODE = 340422 entry in the OEM.SYS file. MP12xx then have no effect. Other improvements / changes: • New “advanced HSC filter” introduced. • An optimum limit frequency is automatically calculated for roughing (can be only programmed with Cycle 32) for both HSC filters. MP1212 functions as a maximum limit frequency. • For single and double filters the minimum filter orders (previously MP1099.x) were replaced by maximum limit frequencies (now MP1210 and MP1211). 1–4
HEIDENHAIN Technical Manual iTNC 530
New MP
Old MP
1200
1201
Function
Possible input value
Selection of the filter type
0 = Single filter 1 = Double filter 2 = HSC filter 3 = Advanced HSC filter
1095.1 Nominal position value filter in manual operation
0 = Single filter 1 = Double filter
1202.0 1202.1
Tolerance for contour transitions at corners 1096.0 With machining feed rate 1096.1 With rapid traverse
0.0000 to 3.0000 [mm] 0.0000 to 3.0000 [mm]
1210
1099.0 Limit frequency for single filter
0.0 to 166.0 [Hz]
1211
1099.1 Limit frequency for double filter
0.0 to 166.0 [Hz]
1212
1094
Limit frequency for HSC filter
0.0 to 166.0 [Hz]
1213
Limit frequency for advanced HSC filter
0.0 to 166.0 [Hz]
1222
HSC filter: Tolerance for curvature changes
0 = Do not include the tolerance 1 = Include the tolerance
1223
Advanced HSC filter: Tolerance for curvature changes
0 = Do not include the tolerance 1 = Include the tolerance
1230.x
1097.x Max. permissible axis-specific jerk for single filter
0.1 to 1000.0 [m/s3]
1231.x
1098.x Max. permissible axis-specific jerk for double filter
0.1 to 1000.0 [m/s3]
1232.x
1098.x Max. permissible axis-specific jerk for HSC filter
0.1 to 1000.0 [m/s3]
1233.x
Max. permissible axis-specific jerk for advanced HSC filter
0.1 to 1000.0 [m/s3]
1240.x
1097.x Max. permissible axis-specific jerk at curvature 0.1 to 1000.0 [m/s3] changes for single filter
1241.x
1098.x Max. permissible axis-specific jerk at curvature 0.1 to 1000.0 [m/s3] changes for double filter
1242.x
1097.x Max. permissible axis-specific jerk at curvature 0.1 to 1000.0 [m/s3] changes for HSC filter
1243.x
Max. permissible axis-specific jerk at curvature 0.1 to 1000.0 [m/s3] changes for advanced HSC filter MP1391 was changed: MP1391.0 Velocity feedforward control in the Manual and Handwheel modes of operation Input: Bits 0 to 13 represent axes 1 to 14 0: Operation with following error (lag) 1: Operation with velocity feedforward control MP1391.1 Acceleration feedforward control in the Manual and Handwheel modes of operation Input: Bits 0 to 13 represent axes 1 to 14 0: Acceleration feedforward control inactive 1: Acceleration feedforward control active
November 2004 NC Software 340 490-xx/340 491-xx and 340 492-xx/340 493-xx
1–5
MP2210.x is new (only CC 424): Some of the asynchronous spindle motors require a high magnetizing current at low speeds (n < nfield weakening). This magnetizing current can, however, lead to thermal motor problems at the rpm for field weakening. MP2210.x enables you to reduce the nominal voltage (and, as a result, the nominal magnetizing current) at the rpm for field weakening during idle running. The maximum nominal voltage is reached when n = 3 · nfield weakening. The nominal voltage can be reduced by max. 60 % (MP2210.x = 60). Input: 0 to 99 [%] 0: Function inactive
Unominal
MP2210.x
nfield weakening
n 3 · nfield weakening
MP2254.x was expanded (only CC 424): A new mode (MP2254.x = 3) for determining the field angle was introduced for the CC 424. The new mode behaves like MP2254.x = 2, but the drive must no longer be switched on by the PLC. The drive moves immediately after the FIELD ORIENT soft key is pressed. This mode can be used if: • There are no brakes, or • The brakes are always open in the Commissioning Current Controller mode of operation, or • The user ensures that the brakes can be opened manually or with the PLC. Danger Hanging axes require a 100% compensation for weight. Please contact HEIDENHAIN if this is not the case. Warning The drive begins turning immediately after the FIELD ORIENT soft key is pressed. The traverse path of the drive is approximately two pole pairs. Limit switches are ignored! If axes move into an illegal area, press the emergency stop button!
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HEIDENHAIN Technical Manual iTNC 530
MP2260.x is new (only CC 424): Reserved, do not make any entries. MP7266.x was expanded: MP7266.34 to MP7266.36 Value for PLC (P1 to P3) MP7266.37 Reserved MP7266.38 Point angle (T-ANGLE) MP7266.39 Thread pitch (PITCH) MP7310 was expanded: Bit 5—The 3-D graphics (with representation of 5-axis machining) can also be deactivated with the MC 422B and MC 420. 0: Permit 2.5-D and 3-D graphics (also depends on hardware) 1: Permit only 2.5-D graphics (independent of hardware) Bit 6: Reserved MP7312 is new: MP7312 is used to speed up the graphic simulation of the 3-D graphics (with display of 5-axis machining) in the Test Run mode. If no value is entered for the tool tooth length in the LCUTS column of the tool table, an infinitely long tooth length is assumed. MP7312 limits the tooth length if no value was given for the tooth length in the tool table, or if the tool was defined in the NC program. Input: = 0: No limitation, infinitely long tooth length > 0: Tooth length = 2 · tool radius · MP7312 The smaller the entered factor is, the faster the graphic simulation of the 3-D graphics runs. Useful values range from 10 to 20. MP7356.x was removed, MP7371.x is new: Color setting for status window and PLC window: MP7371.0: $0ECECEC Background MP7371.1: $0FFFFFFF Background elements MP7371.2: $00000FF Color elements MP7371.3: $00000FF Color positions MP7360.x was expanded: Color settings for 3-D graphics (with display of 5-axis machining) The first tool shown in the 3-D graphics is assigned the color defined in MP7360.8; the second tool receives the color defined in MP7360.9, etc. The ninth tool starts at MP7360.8 again MP7360.7 $0CC1919 Cutting plane MP7360.8: $06666CC Tool 1 MP7360.9: $066CC66 Tool 2 MP7360.10: $06666CC Tool 3 MP7360.11: $066CC66 Tool 4 MP7360.12: $0CC6666 Tool 5 MP7360.13: $0CC66CC Tool 6 MP7360.14: $066CCCC Tool 7 MP7360.15: $066CC19 Tool 8
November 2004 NC Software 340 490-xx/340 491-xx and 340 492-xx/340 493-xx
1–7
MP7375.x is new: Color settings for the new smarT.NC operating mode: MP7375.0: $0E8E8E8 Background: Forms MP7375.1: $0C0C0C0 Background: Unselected tabs MP7375.2: $0FFFFFF Background: Treeview and input fields MP7375.3: $0D0D0D0 Background: Inactive input field MP7375.4: $0D2D2D2 Background: Help graphics MP7375.5: $00022FF Cursor: Treeview and background of current field MP7375.6: $0A0E0FF Cursor: Treeview if the form is the focus MP7375.7: $0000000 Text color: Inactive input field MP7375.8: $0FFFFFF Text color: Active input field MP7375.9: $00000FF Text color: Radio buttons MP7375.10:$0A0A0A0 Text color: Inactive label MP7375.11:$0FF0000 Background: Radio and check buttons, mouseover MP7375.12:$000FF00 Global data PREDEF: Background MP7375.13:$0000000 Global data PREDEF: Text MP7375.14:$0FF0000 Global data changed: Background MP7375.15:$0000000 Global data changed: Text MP7375.16:$0FFFFC0 Tooltip: Background MP7365.17:$0000000 Tooltip: Text MP7375.18:$0FF0000 Dialog box title: Background MP7365.19:$0000000 Dialog box title: Text MP7375.20:$000FA00 Pattern generator: Points of the same height MP7375.21:$00000C8 Pattern generator: Currently active points MP7375.22:$0800000 Pattern generator: Deleted points MP7375.23:$0FF6432 Pattern generator: Hidden points MP7375.24:$07B342D Pattern generator: Rectangle for zoom MP7411 was changed: Only the values 0 and 1 can be entered in MP7411 (tool data in touch probe block). Bit 1 was removed. This simplifies the touch probe management for the machine user. 0: Use the calibrated data of the touch probe 1: Use the current tool data from the last TOOL CALL MP7500, MP7510.x, MP7520.x, MP7530.x and MP7550.x were removed. The kinematics can now only be configured with kinematics tables.
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HEIDENHAIN Technical Manual iTNC 530
MP7610.x is new (only CC 424): MP7610.x defines control loops as single-speed or double-speed with the bit codes: MP7610.0 first drive control board MP7610.1 second drive control board In order to remain compatible to older, permanently assigned settings, the two machine parameters have the following preassigned settings: MP7610.0: %1100 MP7610.1: %1111 This results in limitations for the usability of the PWM outputs. For the first controller PCB: MP7610.0
Control-loop speed:
Active PWM outputs
Bit 0
0 = Single-speed
X51 / X53
1 = Double-speed
X51 / X53 not active
Bit 1
0 = Single-speed
X52 / X54
1 = Double-speed
X52 / X54 not active
Bit 2
0 = Single-speed
X55
1 = Double-speed
X55
Bit 3
0 = Single-speed
X56
1 = Double-speed
X56
For the second controller PCB: MP7610.1
Control-loop speed:
Active PWM outputs
Bit 0
0 = Single-speed
X57
1 = Double-speed
X57
Bit 1
0 = Single-speed
X58
1 = Double-speed
X58
Bit 2
0 = Single-speed
X59
1 = Double-speed
X59
Bit 3
0 = Single-speed
X60
1 = Double-speed
X60
MP7684 was changed: Bit 4 – Now only functions with M114. Bit 5, bit 6 – No function: All compensating motions are taken into consideration for the advance speed reduction at corners with M128.
November 2004 NC Software 340 490-xx/340 491-xx and 340 492-xx/340 493-xx
1–9
Configuring the axes and spindle
A kinematics description can consist of up to 25 transformations (lines in the kinematics table). Using the TNCscopeNT computer software it is possible to capture online the oscilloscope data for up to 16 channels. New table of power stages introduced (INVERTER.INV): The column S (switch position of current sensor) does not yet have a function. The function of the Switch pos. of the current sensor column will be available starting with the release of NC software 340 490-02. Columns in the power stages table: • NAME: Designation of the power stage • PWM: PWM frequency [Hz] • S: Switch position of the current sensor • I-MAX: Peak current [A] • I-N: Rated current [A] • U-IMAX:Voltage of the current sensor [V] • U-N-DC:Rated current for DC [A] • T-DC: Thermal time constant DC [s] • F-DC: Transition frequency to T-DC [Hz] • T-AC: Thermal time constant AC [s] • F-AC: Transition frequency to T-AC [Hz] • T-IGBT:Protection time of the IGBTs [µs]
Machine interfacing
The ID number of the controller software is entered in the log. In the Editing machine parameters operating mode, system files (*.SYS) can be opened and changed. For example, in OEM.SYS the number of axes present (PWMPARAMETER = , AXISNUMBER = ) can be changed, and adapted to the existing machine parameter file. If the new smarT.NC operating mode is active, marker M4163 is set. In this case, the value 8 is in W272 (operating mode). For freely definable tables, the predefined column type Time / Date is possible. The column type is specified with X and the WIDTH field determines how many characters of the current time are automatically transferred into the file. The field is updated each time the table is write-accessed, and has the following format: “hh:mm:ss dd.mm.yyyy” At present, this feature for write access is realized from the PLC. Write access from NC programs (FN function) is available as of the NC software 340 490-02. If marker M4056 is set, the control tries to keep the TS 640 touch probe at ready notice. If this is not possible, positioning motions in the Manual and Handwheel modes of operation are interrupted with the Probe system not ready error message. After acknowledging the error message with CE, the touch probe can be freely traversed for 60 seconds in the Manual mode of operation. Then the error message is displayed again. Warning Touch-probe monitoring for the TS 640 is not active as long as the touch probe does not report that it is ready. Machine parameters MP2420.x and MP2430.x can be changed through the PLC.
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HEIDENHAIN Technical Manual iTNC 530
PLC programming
If the PLC Programming mode of operation is activated with write-protection with code number 807667 (and if a different code number was defined in OEM.SYS via PLCPASSWORD =), then the WATCH LIST soft key is available. If the highlight is located in the WATCH LIST in the SYMBOL or ADDR column, the ORDER soft key can be used to sort the WATCH LIST by the respective column. New function: I/O-FORCE LIST Independently of the currently running PLC program and the status of the hardware, the PLC inputs and outputs can be influenced via the I/O-FORCE LIST. The inputs and outputs can be selected in the TABLE and in the WATCH LIST with the ADD TO I/O-FORCE LIST soft key. A message confirms the addition to the I/O-FORCE LIST. Added inputs and outputs can no longer be changed in the TABLE with the SET and RESET soft keys. The green error message I/O-Force is active is output in the PLC Programming mode of operation if the FORCE LIST is active. Also, the affected inputs and outputs are color-coded in the TABLE. Danger The I/O-FORCE LIST can overrule safety-relevant monitoring operations in the PLC program! Make sure that hanging axes are supported! If the control is being operated as a programming station (MP7210 = 1 or 2), this status is displayed in the PLC Programming mode of operation. The available memory in the PLC partition (PLC:\) is shown in kilobytes in the PLC programming mode of operation. The PLC partition is also checked to see if there are at least 10 MB of memory available. If the available memory is less than 10 MB, the PLC partition: Not enough memory error message is output. In the cycles for tool measurement, the PLC program may command a gear shift during output of the spindle speed without interrupting the cycle. Marker M4186 is new: M4186 is set if an NC program is started in the Test Run operating mode. PLC modules 9158, 9164, 9165 and 9166 now support 14 axes. The number of axes had been limited to 12. Before the PLC program is converted, the symbols of the PLC soft-key project are converted automatically. No conflicts arise, because the PLC program and the soft-key project use the same symbol information.
PLC modules
Module 9035 (Reading the status information) expanded: If the code 100 is given in the call of Module 9035, the number of the tool axis can be determined. The tool axis can also be determined with markers M4526 to M4534, but only up to the 9th axis. Tool axes with greater numbers can be determined only via Module 9035. Module 9171(Oriented spindle stop) expanded: Incremental spindle positioning movements can be processed with Module 9171 (direction of rotation: 5). Module 9221 (Starting a PLC positioning movement) expanded: The PLC positioning of NC axes with Module 9221 is now also possible for the 10th to 14th axes. Active PLC positioning movements can be stopped with the new Module 9224, see page – 16.
November 2004 NC Software 340 490-xx/340 491-xx and 340 492-xx/340 493-xx
1 – 11
Module 9045 Reading the 3-D ROT data Module 9045 reads the 3-D ROT data (swivel angle, axes, and operating mode) and saves them in words and double words. The swivel angles are saved in three successive double words beginning with the specified target address (format: 0.0001°). The swivel axes are saved in bit-encoded format in the next word. The operating mode active for swiveling is saved in bit-encoded format in the word after that. The given target address must be a double-word address. You must be able to write to four sequential double words at the given target address. The following data are output as words and double words: D[n+0]: D[n+4]: D[n+8]: W[n+12]: W[n+14]:
Call: PS CM
Swivel angle A Swivel angle B Swivel angle C Bit-encoded swiveled axes: Bits 0 to 2 correspond to axes A to C Bit-encoded: Bit 0 = Swiveling active in Program Run operating mode Bit 1 = Swiveling active in Manual operating mode
B/W/D/K 9045
Error recognition:
1 – 12
Marker
Value
Meaning
M4203
0
3-D ROT data read
1
3-D ROT data not read
HEIDENHAIN Technical Manual iTNC 530
Module 9149 Set/Read commutation angle Module 9149 enables you to determine and set the commutation angle of a synchronous, torque or linear motor. For axes that cannot be moved when switched off (e.g. due to Hirth coupling), Module 9149 can be used to read out the commutation angle of the position at shutdown. The PLC can then store it in nonvolatile memory. After restarting the control, you can use the module to again set the commutation angle— which is stored in nonvolatile memory—for the axis concerned. This means that it is not necessary to determine the commutation angle again. Danger After the axis has moved away from the position at shutdown, the commutation angle is no longer valid and must no longer be used. When the control is shut down the next time, the commutation angle of the position at shutdown must be read out and stored again. Safety precautions: The commutation angle may be set only after you have ensured that the stored commutation angle corresponds to the current position (e.g. due to Hirth coupling). The module is suitable only for synchronous, torque, or linear motors in conjunction with nonaligned encoders without EnDat interface. The module responds with a value only if the reference mark has been traversed. The commutation angle for an axis can be set only once after the control is switched on and before the drives are first switched on. Call: PS PS PS
CM PL
PL
B/W/D/K B/W/D/K 1 to 720000 B/W/D/K 0: Read commutation angle 1: Set commutation angle 9149 B/W/D 0: Commutation angle set/read 1: Module was not called in a spawn job or submit job 2: Invalid mode 3: Invalid axis number 4: Invalid commutation angle Error code from controller when mode 0 is active (read commutation angle): 100: Unknown reference position Error code from controller when mode 1 is active (set commutation angle): 200: Invalid motor type (no synchronous or linear motor) 201: Invalid encoder type (not “non-aligned”) 202: Invalid commutation angle 203: Commutation angle already set B/W/D
November 2004 NC Software 340 490-xx/340 491-xx and 340 492-xx/340 493-xx
1 – 13
Error recognition:
1 – 14
Marker
Value
Meaning
M4203
0
Commutation angle set/read
1
Error code in W1022
W1022
1
Invalid mode
2
Invalid axis number
20
Module was not called in a spawn job or submit job
45
Error code from controller
HEIDENHAIN Technical Manual iTNC 530
Module 9170 Finding the current torque With Module 9170 you can determine the averaged, maximum and minimum torque of a drive. The determined torque value depends on the PLC cycle time. Call: PS PS CM PL PL PL
B/W/D/K 0 to 13 and 15: Axes 1 to 14 and the spindle B/W/D/K 0: Torque value in tenths of per cent of the nominal torque 9170 B/W/D B/W/D B/W/D
Error recognition: Marker
Value
Meaning
M4230
0
Torque value determined
1
Error code in W1022
W1022
1
Invalid mode
2
Invalid axis number
Module 9222 Status request of PLC positioning movement (module expanded) With Module 9222 you can interrogate the status of a PLC positioning movement. The status of an axis, or now also bit-encoded for all axes, can be interrogated. Call: PS
CM PL
B/W/D/K Interrogation of an axis: 0 to 13 represent axes 1 to 14 Interrogation of all axes: –1: Target position reached –2: PLC positioning was started –3: Cancel PLC positioning –4: Limit switch –5: PLC positioning not possible 9222 B/W/D Interrogation of an axis: 1: Target position reached 2: PLC positioning was started 3: Cancel PLC positioning 4: Limit switch 5: PLC positioning not possible Interrogation of all axes: Status request of PLC positioning movement bit-encoded
November 2004 NC Software 340 490-xx/340 491-xx and 340 492-xx/340 493-xx
1 – 15
Module 9224 Stop PLC positioning movements Individual PLC positioning movements can be stopped with Module 9224. If M4120 to M4128 are already set, they are reset. It is still possible to stop PLC positioning movements by resetting markers M4120 to M4128. Positioning movements of axes 10 to 14 can be stopped only with this module. Call: PS PS CM PL
B/W/D/K B/W/D/K Reserved: 0 transferred 9224 B/W/D 0: Positioning is canceled 1: Invalid axis was programmed 2: This axis is not positioned by the PLC
Error recognition: Marker
Value
Meaning
M4203
0
PLC positioning was stopped
1
Error code in W1022
2
Invalid axis (invalid axis number, auxiliary axis, or uncontrolled axis)
9
Axis is not positioned by the PLC
W1022
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HEIDENHAIN Technical Manual iTNC 530
Other functions
New alternate mode of operation introduced: smarT.NC Cycle 240 (CENTERING) is used to create center bore holes. Number of Q parameters increased to 2000: • Q200 to Q1399, reserved for HEIDENHAIN cycles • Q1400 to Q1499, reserved for OEM cycles (CALL-active) • Q1500 to Q1599, reserved for OEM cycles (DEF-active) • Q1600 to Q1999 can be freely used by the machinist Mid-program startup of NC programs is possible with M128. The compensating motions of the axes are activated, if necessary, after the machine status has been restored, so that the compensating motions are superimposed over traverse motions of the axes. The “SYS:\” partition of the iTNC 530 was increased from 1 GB to 2 GB. This makes it possible to store multiple NC software versions in compressed form on the control. This results in the following new partition sizes, available on newly delivered iTNC hard drives, see page – 23: Partition iTNC 530
iTNC 530 with Windows 2000
C:
–
13 GB
TNC:
25 GB
13 GB
PLC:
1 GB
1 GB
SYS:
2 GB
1 GB
New dialog language: Slovenian The language can be activated with MP7230.x = 17, but must first be enabled via option #41. M150 is used to suppress the error message for the current positioning block. The maximum number of tool types in the magazine rules (tooltype) was increased from 9 to 20. The input range for the LBL, CALL LBL, FN9, FN10, FN11 and FN12 commands was expanded. The number of available label numbers was increased to 1000 (LBL 0 to LBL 999). In addition, you can now also assign names as labels (e.g. LBL “Contour”). The number of label names that can be used is unlimited. They are in addition to the 1000 available label numbers. New fields in the status display: The current time and the active spindle (S1 or S2) are displayed. The graphic simulation in the Test Run can be stopped with the STOP soft key even within a cycle or a contour pocket. If the current line in the program is not changed, press the START soft key to continue working from the point of interruption. The touchpad of the TE 530 / TE 530B can be connected to the USB port on the MC 42x(B). The touchpad can be used for soft keys and smarT.NC dialog fields. PLANE function expanded: • PLANE EULER: Rot. angle of main coord. plane expanded from 0° to 180° to –180° to +180°. • The normal vector for PLANE VECTOR does not need to be entered in standardized form. The iTNC calculates the standardization itself. Input range: –99.9999999 to +99.9999999
November 2004 NC Software 340 490-xx/340 491-xx and 340 492-xx/340 493-xx
1 – 17
Enter points in the FADE column of the point tables (*.PNT) to hide them from machining (the “hide block” function in Program Run must be activated). The SPEC FCT key on the TE 530B is supported: The new SPEC FCT (special function) key makes it easier to access special functions (e.g. PLANE or FUNCTION TCPM). A progress bar is shown when searching through longer NC programs. In addition, the user is presented with a soft key for interrupting the search. In CYCL CALL PATTERN either the coordinate of the highest pattern point or the defined 2nd set-up clearance is traversed to (whichever of the two is higher). If the IP addresses for the network settings are entered in the ADDRESS column separated by commas, the commas are replaced by periods when the field is exited. If no tool table is selected, the file TNC:\TOOL.T is automatically loaded when starting a simulation in the Test Run operating mode. A tool table must be available during a test run with the new smarT.NC operating mode. If a soft key that is defined in a soft-key resource is pressed, the entry is made under the keyword SOFTKEY-IDENT: in the log. The following new columns were added to the tool table: • P1, P2, P3: Freely definable Input: –99999.9999 to +99999.9999 • T-ANGLE: Point angle for centering and drilling tools • PITCH: Reserved • KINEMATIK: Reserved The TYPE column of the tool table was increased to 10 input possibilities, and expanded by the following elements: • BOR: Boring tool • BCKBOR: Back-boring tool • CENT: NC spot drill / center drill • CSINK: Countersinking tool • DRILL: Drilling tool • MILL_R: Rough cutter • MILL_F: Finishing cutter • MILL_RF: Rough and finishing cutter • MILL_FD: Floor finishing cutter • MILL_FS: Side finishing cutter • MILL_FACE: Face-milling cutter • REAM: Reamer • TAP: Tapping tool • GF: Thread miller • GSF: Thread miller with chamfer • EP: Thread miller for single threads • WSP: Thread miller with indexable insert • BGF: Thriller • ZBGF: Circular thread miller • TSINK: Piloted counterbore
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HEIDENHAIN Technical Manual iTNC 530
The following possibilities exist for entering the feed rate: • Milling tools: Feed rate per tooth (Fz) in millimeters or inches. The iTNC calculates the value for the feed rate F as follows: F = Fz · “number of teeth” · rpm • Drilling tools: Feed rate per revolution (Fu) in millimeters per revolution or inches per revolution. The iTNC calculates the value for the feed rate F as follows: F = Fu · rpm
November 2004 NC Software 340 490-xx/340 491-xx and 340 492-xx/340 493-xx
1 – 19
1.3.1 Feature Content Level Until now, each new NC software version contained error fixes as well as expanded functions. Users who wanted only the NC software update to eliminate the errors often felt bothered by the expanded functions. For this reason, error fixes and expanded functions will now be managed separately. If a new NC software is later loaded onto a machine with NC software 340 490-01, then as the default setting only the error fixes contained will be effective. The expanded functions will at first remain inactive. The expanded functions can then be enabled by entering a code number. HEIDENHAIN can give you the code number after having been informed of the SIK number and NC software version. The “feature content level” is defined in the SIK under option #53. The first time a control is switched on with the new NC software, if no feature content level is set in the SIK, a note appears asking to confirm the installed NC software as the initial version, or if another software version is to be installed. After pressing the MOD key, the feature content level is displayed in addition to the software versions. The feature content level is incremented with each new version of the NC software. The feature content level is set in the SIK: Automatically after 100 restarts By entering the code number “0” under option #53
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HEIDENHAIN Technical Manual iTNC 530
1.4 Additional Enhancements to NC Software 340 492-xx and 340 493-xx PLC modules
Module 9315 Bringing a Windows window to the front or minimizing it Module 9315 is used on the iTNC 530 with Windows 2000 and on the programming station to bring the window of a Windows application from the PLC to the foreground and make it active, or to minimize it. In the module call you enter the title of the window that is to be brought to the foreground. Uppercase and lowercase are ignored in the given window title, as well as any leading or trailing blank spaces. In order to bring a Windows application to the foreground, the user-specific Windows system parameter “ForegroundLockTimeout” must be set to 0 (default: 200000). Otherwise the activation of the window is signaled only by a blinking of its icon in the task bar. The system parameter is automatically set by a program in the Startup folder for the iTNC 530 with Windows 2000. The system parameter is not automatically changed on the programming station. Here there are two shortcuts in the Start menu, with which the parameter can be set to 0 (ON) or the default value 200000 (OFF). Call: PS
PS CM
B/W/D/K 0: Bring window to the foreground 1: Minimize window B/W/D/K/S 9315
Error recognition: Marker
Value
Meaning
M4203
0
Windows window activated / minimized
1
Error code in W1022
W1022
1
Invalid mode programmed
2
Window with this title does not exist
3
Invalid PLC string address was programmed
11
Invalid string programmed for window title
20
Call was not in a submit or spawn job
52
Single-processor control, switch-over not possible
November 2004Additional Enhancements to NC Software 340 492-xx and 340 493-xx
1 – 21
Module 9316 Status interrogation of a Windows window The current status of a Windows window can be interrogated with Module 9316. Call: PS PS CM PL
B/W/D/K 0: Window status B/W/D/K/S 9316 B/W/D Bit 0: Window in foreground Bit 1: Window minimized
Error recognition: Marker
Value
Meaning
M4203
0
Windows window status determined
1
Error code in W1022
1
Invalid mode programmed
W1022
2
Window with this title does not exist
3
Invalid PLC string address was programmed
11
Invalid string programmed for window title
20
Call was not in a submit or spawn job
52
Single-processor control, status interrogation not possible
Module 9317 Determining a Windows window title Module 9317 is used to determine the title of the Windows window in the foreground at the time of the request. Call: PS PS CM
B/W/D/K 0: Title of the Windows window in the foreground B/W/D/K 9317
Error recognition: Marker
Value
Meaning
M4203
0
Windows window title determined
1
Error code in W1022
W1022
1 – 22
1
Invalid mode programmed
3
Invalid PLC string address was programmed
20
Call was not in a submit or spawn job
52
Single-processor control, title interrogation not possible
HEIDENHAIN Technical Manual iTNC 530
1.5 Hardware 1.5.1 TE 530B
TE 530B TNC operating panel with touchpad With function keys for the new smarT.NC operating mode, as well as the new SPEC FCT key for calling special TNC functions. The IV and V keys are snap-ons, and can be switched. Id. Nr. 519 441-11 TE 530B
1.5.2 HDR Hard Disk
HDR hard disk for iTNC 530
November 2004
Id. Nr.
340 490-xx: Standard version
524 571-01
340 491-xx: Export version
524 571-51
340 492-xx: Standard version with Windows 2000
524 572-01
340 493-xx: Export version with Windows 2000
524 572-51
Hardware
1 – 23
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HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 13 1.1 Releases The following versions of the NC software were released: NC software 340 422-12 and 340 423-12 NC software 340 480-12 and 340 481-12
December 2004 December 2004
1.2 NC Software 340 422-xx/340 423-xx and 340 480-xx/340 481-xx Machine parameters
MP709.x is new: MP709.x is used to influence the output of the backlash compensation (MP710.x). Input: 0: Previous behavior of MP710.x 1 to 1000: Time constant [ms]
MP710.x
Nominal value Reversal point MP709.x: Small input value MP709.x: Large input value MP709.x = 0
Nominal value
December 2004
Releases
1–1
MP2172 is new: If the control triggers an EMERGENCY STOP (i.e. via PLC or movement monitoring), the presently assigned delay time of 3 seconds for the SH1 signal (inverter enabling) may not be sufficient for decelerating the spindle. On controls with CC 42x, MP2172 now enables you to set any time between 1 second and 6 seconds as the delay time. Input: 0: Previous delay time of 3 seconds 1 to 6: Delay time in seconds (whole numbers) PLC modules
The PLC modules 9158, 9164, 9165 and 9166 now support 14 axes. The number of axes had been limited to 12.
Other functions
PLANE functions expanded: PLANE EULER: Rot. angle of main coord. plane expanded from 0° to 180° to –180° to +180°. This enables you to program all directions in space.
1.3 Additional Enhancements to NC Software 340 480-xx/340 481-xx Hard disks with Microsoft Windows 2000 and NC software 340 480-12 or 340 481-12 supplied by HEIDENHAIN include Microsoft Patches KB841533, KB840987, KB841356, KB834707, KB819696, KB839643, KB814078. The following changes were made to the Microsoft Windows 2000 installation: - Automatic Windows updates were deactivated. - The energy saver for the screen was deactivated. - The Microsoft Java Virtual Machine (MSJVM) was removed. If you already have a hard disk, you can install these expansions and settings at any time.
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HEIDENHAIN Technical Manual iTNC 530
1.4 New Hardware 1.4.1 New Versions of the CC 424 The configurable double-speed control loops of the CC 424 controller unit allow you to increase the controller performance. This enables you, for example, to achieve an excellent workpiece surface quality. Double-speed control loops are needed particularly for linear drives in order to achieve proper speed/position control factors required by high-efficiency mechanical systems. High-speed spindle motors requiring PWM frequencies greater than 5 kHz with short current controller cycle times can be operated only with doublespeed control loops. A maximum of 4 double-speed control loops can be configured on the CC 424 with 8 control loops, and a maximum of 8 double-speed control loops on the CC 424 with 12 control loops. Please note that the maximum number of available control loops may be reduced through the configuration of double-speed control loops. See “Setting the Controller Performance in MP 7610.x” on page 10.
1.4.2 CC 424 with 8 Control Loops
CC 424 controller unit with 8 control loops The product program now also includes a CC 424 controller unit for up to 8 control loops. It is equipped with: - 8 PWM outputs - 8 speed encoder inputs - 8 position encoder inputs This CC can be used as of NC software: - 340 490-01 - 340 491-01 - 340 492-01 - 340 493-01 Id. Nr. 521 755-01 CC 424 8 control loops
December 2004
New Hardware
1–3
1.4.3 CC 424 with 12 Control Loops
CC 424 controller unit with 12 control loops The product program now also includes a CC 424 controller unit for up to 12 control loops. It is equipped with: - 12 PWM outputs - 12 speed encoder inputs - 12 position encoder inputs This CC can be used as of NC software: - 340 490-01 - 340 491-01 - 340 492-01 - 340 493-01 Id. Nr. 533 569-01 CC 424 12 control loops
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HEIDENHAIN Technical Manual iTNC 530
1.4.4 Connection Overview MC 422B and CC 424 with max. 8 control loops X201 to X208
Position encoders
X15 X17X19 X80
X15 to X20 X80, X81
Speed encoders Speed encoders
X16 X18X20 X81
X51 to X58
PWM output
X8, X9 X12 X13
Nominal value output, analog TS touch trigger probe TT 130 touch trigger probe
X23 X26 X27 X28 X127 X128 X141, X142
Handwheel Ethernet data interface RS-232-C/V.24 data interface RS-422/V.11 data interface RS-232-C/V.24 (only for Windows 2000) RS-422/V.11 (only for Windows 2000) USB interface
X30 X34 X41 X42 X44
24 V reference signal for spindle 24 V for "control-is-ready" output PLC output PLC input 24 V PLC supply voltage
X45 X46 X47 X48 X149
Keyboard unit Machine operating panel PLC expansion PLC analog input BF 150 monitor
X131
Reserved
X69
Power supply
X51 X53 X55 X57
X52
X58 X54 X56
X74 X69 X207
X201X203 X205 X202X204
X208
X206
X150 at bottom of housing
X121, X125, X165
Reserved
X74 X150
5-V power supply Axis-specific drive release
B
Signal ground Equipment ground (YL/GN)
Warning Do not engage or disengage any connecting elements while the unit is under power!
December 2004
New Hardware
1–5
MC 422B and CC 424 with max. 12 control loops
X15 X17X19
X16 X18X20
X51 X53 X55
X54 X56
X69
Speed encoders Speed encoders
X51 to X56 X59 to X64
PWM output PWM output
X8, X9 X12 X13
Nominal value output, analog TS touch trigger probe TT 130 touch trigger probe
X23 X26 X27 X28 X127 X128 X141, X142
Handwheel Ethernet data interface RS-232-C/V.24 data interface RS-422/V.11 data interface RS-232-C/V.24 (only for Windows 2000) RS-422/V.11 (only for Windows 2000) USB interface
X30 X34 X41 X42 X44
24 V reference signal for spindle 24 V for "control-is-ready" output PLC output PLC input 24 V PLC supply voltage
X45 X46 X47 X48 X149
Keyboard unit Machine operating panel PLC expansion PLC analog input BF 150 monitor
X131
Reserved
X69, X169
Power supply
X59 X61 X63
X62 X64
X169 X209
X213
X211 X202X204 X206
X15 to X20 X82 to X87 X83 X85 X87
X74
X201X203 X205
Position encoders Position encoders
X82 X84 X86
X60
X52
X201 to X206 X209 to X214
X210
X214
X212
X150, X151 at bottom of housing
X121, X125, X165
Reserved
X74 X150, X151
5-V power supply Axis-specific drive release
B
Signal ground Equipment ground (YL/GN)
Warning Do not engage or disengage any connecting elements while the unit is under power!
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HEIDENHAIN Technical Manual iTNC 530
1.4.5 Dimensions CC 424 for max. 8 control loops
December 2004
New Hardware
1–7
CC 424 for max. 12 control loops
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HEIDENHAIN Technical Manual iTNC 530
1.4.6 Prerequisites for Operation The CC 424 with 8 or 12 control loops is only supported as of software versions 340 490-xx 340 491-xx 340 492-xx 340 493-xx This NC software is, however, only executable on the MC 422B and the MC 420, each with at least 128 MB of RAM. 1.4.7 Machine Parameters Since the hardware program has been expanded from 6 or 10 control loops to 8 or 12 control loops for the CC 424, please keep the following settings of MP7610.x in mind: MP7610.x was expanded (only CC 424): MP7610.x defines control loops as single-speed or double-speed with the bit codes: MP7610.0 first drive control board MP7610.1 second drive control board In order to remain compatible to older, permanently assigned settings, the two machine parameters have the following preassigned settings: MP7610.0: %1100 MP7610.1: %1111
December 2004
New Hardware
1–9
1.4.8 Setting the Controller Performance in MP 7610.x
Configuration of MP 7610.x for the CC 424 versions Bit Value No.
6 ctrl. loops
8 ctrl. loops
10 ctrl. loops
0 (SS)
0 (SS)
0 (SS)
1 (DS)
1 (DS)
12 ctrl. loops 1 (DS)
0 (SS)
1 (DS)
Bits of MP 7610.0 for 1st drive control board (= number of DSP) 0
X51 X53
X51
X51 X53
X51
X51 X53
X51
X51 X53
X51
1
X52 X54
X52
X52 X54
X52
X52 X54
X52
X52 X54
X52
2
X55
X55
X55 X57
X55
X55
X55
X55
X55
3
X56
X56
X56 X58
X56
X56
X56
X56
X56
Bits of MP 7610.1 for 2nd drive control board (= number of DSP)
1 – 10
0
X57
X57
X59 X61
X59
1
X58
X58
X60 X62
X60
2
X59
X59
X63
X63
3
X60
X60
X64
X64
No. of axes (standard)
6
6
10
10
No. of axes (maximum)
6
8
10
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HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 14 1.1 Overview 1.1.1 Released Service Packs The following service packs were released for 340 422-12 and 340 423-12: Service pack 1: 340 422-12 SP1 and 340 423-12 SP1
January 2005
Service pack 2: 340 422-12 SP2 and 340 423-12 SP2
March 2005
Service pack 3: 340 422-12 SP3 and 340 423-12 SP3
April 2005
The following service packs were released for 340 480-12 and 340 481-12: Service pack 1: 340 480-12 SP1 and 340 481-12 SP1
January 2005
Service pack 2: 340 480-12 SP2 and 340 481-12 SP2
March 2005
Service pack 3: 340 480-12 SP3 and 340 481-12 SP3
April 2005
The following service packs were released for 340 490-01 and 340 491-01: Service pack 1: 340 490-01 SP1 and 340 491-01 SP1
March 2005
Service pack 2: 340 490-01 SP2 and 340 491-01 SP2
June 2005
The following service packs were released for 340 492-01 and 340 493-01: Service pack 1: 340 492-01 SP1 and 340 493-01 SP1
March 2005
Service pack 2: 340 490-01 SP2 and 340 491-01 SP2
June 2005
1.1.2 Released NC Software The following versions of the NC software were released:
September 2005
NC software 340 490-02 and 340 491-02
July 2005
NC software 340 492-02 and 340 493-02
July 2005
Overview
1–1
1.2 NC Software 340 422-xx/340 423-xx and 340 480-xx/340 481-xx Important notes
With the introduction of the diagnosable UM 1xxD power modules, the rated current and maximum current of some power modules were increased. The MOTOR.AMP table for power modules was therefore expanded by the new types of power modules. The increased currents were unfortunately not considered. This means that the current NC software versions contain a MOTOR.AMP to which the new types, but not the correct currents, were added. This applies to the power modules listed below: UM 112D (Id. Nr. 519 971-xx) UM 122D (Id. Nr. 519 972-xx) UM 113D (Id. Nr. 518 703-xx) UM 114D (Id. Nr. 510 509-xx) If such a power module is operated with the “old” MOTOR.AMP, this may result in reduced surface quality of the workpiece. Starting with service pack 3, the NC software already includes the updated MOTOR.AMP. This software, as well as the updated MOTOR.AMP, can be downloaded from the HEIDENHAIN Filebase (NC-INFO). After updating, check the settings of the affected control loops. Please also check any user-defined MOTOR.AMP on the PLC partition, which is preferably used by the control, but cannot be updated during installation of a service pack.
Service packs
1–2
The following service packs have been released: Service pack 1
NC software
Release
340 422-12 SP1
340 422-12
January 2005
340 423-12 SP1
340 423-12
January 2005
340 480-12 SP1
340 480-12
January 2005
340 481-12 SP1
340 481-12
January 2005
Service pack 2
NC software
Release
340 422-12 SP2
340 422-12
March 2005
340 423-12 SP2
340 423-12
March 2005
340 480-12 SP2
340 480-12
March 2005
340 481-12 SP2
340 481-12
March 2005
Service pack 3
NC software
Release
340 422-12 SP3
340 422-12
April 2005
340 423-12 SP3
340 423-12
April 2005
340 480-12 SP3
340 480-12
April 2005
340 481-12 SP3
340 481-12
April 2005
HEIDENHAIN Technical Manual iTNC 530
1.3 NC Software 340 490-01/340 491-01 and 340 492-01/340 493-01 1.3.1 Important Notes With the introduction of the diagnosable UM 1xxD power modules, the rated current and maximum current of some power modules were increased. The MOTOR.AMP table for power modules was therefore expanded by the new types of power modules. The increased currents were unfortunately not considered. This means that the current NC software versions contain a MOTOR.AMP to which the new types, but not the correct currents, were added. This applies to the power modules listed below: UM 112D (Id. Nr. 519 971-xx) UM 122D (Id. Nr. 519 972-xx) UM 113D (Id. Nr. 518 703-xx) UM 114D (Id. Nr. 510 509-xx) If such a power module is operated with the “old” MOTOR.AMP, this may result in reduced surface quality of the workpiece. Starting with service pack 1, the NC software already includes the updated MOTOR.AMP. This software, as well as the updated MOTOR.AMP, can be downloaded from the HEIDENHAIN Filebase (NC-INFO). After updating, check the settings of the affected control loops. Please also check any user-defined MOTOR.AMP on the PLC partition, which is preferably used by the control, but cannot be updated during installation of a service pack. Warning This NC software is executable only on the MC 422B and the MC 420, each with 128 MB of RAM. The BF 120 (resolution: 640 x 480 pixels) is no longer supported. 1.3.2 Service Packs The following service packs have been released: Service pack
NC software
Release
340 490-01 SP1
340 490-01
March 2005
340 491-01 SP1
340 491-01
March 2005
340 492-01 SP1
340 492-01
March 2005
340 493-01 SP1
340 493-01
March 2005
Service pack
NC software
Release
340 490-01 SP2
340 490-01
June 2005
340 491-01 SP2
340 491-01
June 2005
340 492-01 SP2
340 492-01
June 2005
340 493-01 SP2
340 493-01
June 2005
September 2005 NC Software 340 490-01/340 491-01 and 340 492-01/340 493-01
1–3
1.4 NC Software 340 490-02/340 491-02 and 340 492-02/340 493-02 1.4.1 Important Notes Upgrade functions (Feature Content Level)
Until now, each new NC software version contained error fixes as well as expanded functions. Users who wanted only the NC software update to eliminate the errors often felt bothered by the expanded functions. For this reason, error fixes and expanded functions will now be handled separately within the software. If a new NC software is later loaded as an update onto a machine with NC software 340 490-01, then as the default setting only the error fixes contained will be effective. The upgrade functions will at first remain inactive (see “New options and upgrade functions” on page 1 – 6). The upgrade functions can then be enabled by entering a code number. HEIDENHAIN can give you the code number after having been informed of the SIK number and NC software version. The upgrade functions are defined as “feature content level” (FCL) in the SIK under option #53. The first time an NC software with upgrade functionality is installed on a control (i.e. no FCL has been set in the SIK), then the entire scope of functions can be used (including the upgrade functions.). The FCL is then automatically set after 100 restarts, or by entry of the code number 0 under option #53, and all upgrade functions belonging to this software version are enabled as well. A note appears asking to confirm the installed NC software as the initial version, or if another initial software version is to be installed. If the FCL has already been set in the SIK of a control, then after an update (e.g. from software 340 490-02 to -03), the new upgrade functions of the newer software version can only be used after entry of a code number from HEIDENHAIN. After pressing the MOD key, the current status of the FCL is displayed in addition to the software versions. The FCL is incremented with each new version of the NC software. If the upgrade functions are enabled via the FCL for a software version, then all upgrade functions of this software version and all its predecessors are available. For example, if the FCL for version 340 490-03 is set, then all upgrade functions from version 340 490-02 are also available immediately.
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HEIDENHAIN Technical Manual iTNC 530
If a newer software version, e.g. 340 490-06, is simply loaded onto a control, then the already existing upgrade functions remain available, but the upgrade functions of the newer version cannot be used. They must be enabled by entering a new code number.
Executability of SW 340 49x-02 Warning This NC software is executable only on the MC 422B and the MC 420, each with 128 MB of RAM. The BF 120 (resolution: 640 x 480 pixels) is no longer supported.
September 2005 NC Software 340 490-02/340 491-02 and 340 492-02/340 493-02
1–5
1.4.2 Description of the New Functions New options and upgrade functions
The following options are enabled by entering a code number. HEIDENHAIN can give you the code number after having been informed of the SIK number. Option
Description
ID number
#40
DCM – Dynamic Collision Monitoring: Collision monitoring via definitions of collision bodies within the kinematics description.
526 452-01
#41
Additional Languages Slovenian is now available as an additional dialog language.
530 184-01
#42
DXF Converter: Conversion of DXF files generated using CAD software for inclusion in plain-language NC programs.
526 450-01
#53
Upgrade functions as Feature Content Level (FCL), 529 969-01 see page – 4 Plain-language programming functions: Cycle 441: Global touch-probe parameters: Cycle for global setting of touch-probe parameters CAD point filter (offline): Point filter for smoothing NC programs externally created from CAD data 3-D line graphics: Display of the traverse motions as three-dimensional line graphics Virtual tool axis: Manual traverse in the active tool axis system (at program interruption) smarT.NC functions: Coordinate transformation: Units 7, 8, 10 and 11 for coordinate transformation PLANE function: Unit 140, Tilting the Working Plane Contour-pocket depth: A separate depth can be assigned to each subcontour Graphic block scan: Block-scan with graphic support and re-entry at any location within a hole pattern Miscellaneous: Expanded USB functionality (USB 1.1): USB devices which use the VFAT or ISO 9660 file system are detected and connected automatically DHCP and DNS: Network connection of the iTNC via DHCP and DNS
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Update to SW 340 490-02
Update of 340 422-xx and 340 480-xx Please note that there were already significant changes in the update from the software versions named above to version 340 490-01 (e.g., machine parameters, kinematics, etc.) This is also of importance for a successful update to version 340 490-02. Therefore, before updating to version 340 490-02, please also read Update Information No. 12. Note Please note that when using the TNCremoNT computer software from HEIDENHAIN to transfer the software to the iTNC, the files with the extensions *.zip and *.omf are transmitted in binary format. Updating from 340 422-12 and 340 490-01 (iTNC 530 without Windows) The set-up files for the software update to 340 490-02 are no longer available in the previous format. Rather, the update is performed with the setup.omf and setup.zip files mentioned above. Therefore, please pay attention to the new procedure for updates. The NC software versions 340 422-12 and 340 490-01 already support updating with the new file format and the new dialog-guided process. To install version 340 490-02, proceed as follows: 8
Either on a network drive connected to the control, or on the TNC partition, create a directory with the name “340490_002” (e.g. TNC:\340490_002\...). Please pay attention to the naming convention of _ with a 6-digit ID number and a 3-digit version number.
8
Copy the update files (setup.omf and setup.zip) into this directory.
8
Open the dialog box for file selection with Programming and Editing > MOD > Code Number 95148 > MOD > UPDATE DATA > iTNC = 1.1 / (MP1212 * interpolator cycle time) - MP1263 (filter order for “advanced HSC filter” ) >= 0.67 / (MP1213 * interpolator cycle time) Input: 0 to 31 [filter order] 31: Previous behavior New: MP1290 – Maximum angle tolerance for DCM (in combination with option #40) In connection with DCM (Dynamic Collision Monitoring), the machine manufacturer must enter a default maximum permissible angle tolerance via MP1290 (usually 0.1°). This MP is considered with active collision monitoring in combination with active M128 and rotary axis filter (Cycle 32 with Angle Tolerance). An angle tolerance programmed with Cycle 32 is then limited to this value, i.e. the maximum effective angle tolerance is the value from MP1290. If DCM is switched off (via soft key or by switching to kinematics without collision-object definitions), the value programmed in Cycle 32 is in effect again. This is necessary, since DCM cannot yet take into account active angle tolerances when the machine is in motion. The angle entered in MP1290, in combination with the machine kinematics, is the basis for the allowance defined in MP1292 for collision-object calculations by the control. Input: 0.0000 to 3.0000 [°] Default: 3 [°]
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HEIDENHAIN Technical Manual iTNC 530
New: MP1292 – Manual allowance for DCM (in combination with option #40) For the DCM collision monitoring you enter here the necessary oversizes for the collision bodies with active DCM and active separate rotary axis filter (M128 or TCPM function and Cycle 32 with angle tolerance). Input: 0 to 1000 [mm] Default: 0 [mm] The following should be considered for the oversizes: • For the rotary axes, such as a rotary table, assume the largest possible radius during rotation (usually the table radius), or for a swivel head the distance from the tool tip (longest tool) to the most distant point of the swivel head. • Use this information to calculate the non-considered offset of the rotary axis. Do so by using the maximum angle tolerance entered in MP1290 to calculate the offset in the following manner: Example: Swivel head With maximum tool length: 200 mm, head length: 480 mm, angle tolerance: MP1290: 0.1 [°] soffset = r · sin (MP1290) soffset = 680 mm · sin (0.1°) soffset = 1.19 mm Since the oversize entered in MP1292 is added to each length of the bodies in the calculation, the oversize to be entered in MP1292 must be halved: MP1292 = soffset / 2 MP1292 = 1.19 / 2 MP1292 = 1 mm (rounded up from 0.595 mm) Since the resolution in MP1292 must be entered as an integer value in millimeters, the values input must be rounded up. Note Please note that when operating with multiple rotary axes, the offsets can summate, and so you must add the oversizes together. Example: OversizeTilting table = 0.595 [mm] OversizeRotary table = 0.396 [mm] MP1292 = 1 mm (rounded up from 0.991 mm) New: MP2172 MP2712 can be used to delay the switch-off of the SH1 signal (inverter release) by one to six seconds after an internal emergency stop has been triggered (DSP error). It makes additional braking time available in exceptional cases. Input: 0 to 6 [s] as an integer 0: Previous default of 3 s
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New CC 424: MP2260.x – TRC (Torque Ripple Compensation) Certain motors with permanent magnets (linear, torque and some synchronous motors) have an increased, position-dependent variation of the motor torque (not QSY motors from HEIDENHAIN). This can be the result of two things: - During idle running, the cogging due to attractive forces of the permanent magnets - When under load, the torque ripple from higher harmonics, resulting from the opposing electromotive forces (generator effect) In practice, both causes always occur together, i.e. the torque of the motor is subject to periodic oscillations. This can have a negative effect on the controllability of the motor, which can result in a greater following error, and under circumstances, lower surface quality of the workpiece. To compensate for the cogging, a compensation current ascertained specifically for each motor can now be added.
The parameters for calculating this compensation are stored in a special TRC file on the iTNC (PLC:\MP\TRC – xx_.trc; xx = index of the motor axis; motor name = Name of the motor from the motor table (up to 29 characters). The iTNC is informed of the file name via MP2260.x. If MP2260.x is followed by a blank line, no compensation is ascertained for this axis. Example: MP2260.0: 00_MotNameFromMotTab ;Motor of 1st axis MP2260.1: ;Motor of 2nd axis, no compensation Due to the complexity of the parameters required, they can only be determined by the TNCopt commissioning software tool from HEIDENHAIN. Please refer to the TNCopt documentation. Note The TRC function can only be used with PWM frequencies up to 5 kHz. A TRC file can only be used on the control on which the adjustment has been made. A TRC file must be re-created if the motor or even the encoder is exchanged. A TRC file can only be generated for synchronous motors or for linear or torque motors.
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HEIDENHAIN Technical Manual iTNC 530
New: MP4020 bit 13 – Monitoring of housing fan The correct operation of the MC’s or CC’s housing fan is now monitored (speed > 1500 rpm). This monitoring can be switched off with MP4020 bit 13. Input: 0: Monitoring not active 1: Inactive New: MP6151 With MP6151 you can perform the pre-positioning of the probe cycle at the machine’s rapid traverse speed. Input: 0: Pre-position with speed from MP6150 1: Pre-position at rapid traverse New: MP6166 If MP6166 “Probing direction of the touch probe in consideration of an active basic rotation” is activated, the probing directions in the manual measuring cycles and with an active basic rotation are transformed in the rotated plane. Input: 0: Inactive 1: Active Note This behavior is not in effect for the calibration cycles and the cycles for determining the basic rotation. New: MP7400 – Look-ahead ((with software option 2) Number of NC blocks that the interpolator uses to calculate the path in advance. The greater the number of blocks for advance calculation, the higher the possible feed rate. However, this improved effect is only noticeable with many short traverse blocks in the micron range. The default setting is almost always sufficient, and requires less computing time. Input: 0: 256 blocks (previous configuration and default setting) 1: 512 blocks 2: 1024 blocks New: MP7493 Tolerance when setting a reference point with M114 (automatic compensation of machine geometry when working with tilted axes). The maximum deviation of the current tool orientation relative to the tool axis (of the tilted coordinate system) during reference-point setting is entered here. For example, this machine parameter is needed for setting a reference point when the PLANE function is active with Hirth-coupled PLC axes (, see page – 28). Input: 0 to 30.0000 [degrees] Default: 0.005
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New: MP7503 – Virtual tool axis ((upgrade function) When moving the axes in the manual operating modes, and when reapproaching the contour after a program interruption, you can now select via soft key the coordinate system of the tool. The axes can be moved in the current tool axis direction even before traversing the reference marks. To accomplish this, the last position of the rotary axes before power-off is stored remanently for incremental encoders. These remanently stored axis values are shown in an info window, and must be acknowledged by the machine operator. Input: 0: Inactive 1: Active
New: MP7683 bit 8 In MP7683 bit 8 you specify whether during tool-oriented machining in the Program Run, Full Sequence operating mode the workpieces should be machined until a tool change, or whether the program is only interrupted after the entire pallet has been machined (behavior previously depended on bit 1). Input: 0: Program interruption at tool change 1: Machine pallet completely New: MP7684 bit 9 – Rapid five-axis machining with many rotary-axis motions During five-axis NC machining with many rotary axis motions and in combination with M128, a new method for calculation is used if bit 9 is set. This permits a significantly greater amount of motion by rotary axes (up to factor 4). However, if per positioning block this value is greater than 2 degrees, or handwheel superpositioning is active (M118), the previous procedure is used. Input: 0: Inactive 1: Rapid rotary milling active
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HEIDENHAIN Technical Manual iTNC 530
New: MP7691.3 MP7691.3 is used to record all messages from the NC kernel. They are saved in the following directory: TNC:\klog\0.log - 9.log These diagnostics are only possible together with a technician from HEIDENHAIN. Input: 1 to 10 (= 10 files of 10*[MP7691.3] kB each) 0: inactive (default - recommended) Changed: MP2302.x MP2302 can now also be changed by the PLC and via LSV. Changed: MP2304.x MP2304 can now also be changed by the PLC and via LSV. Changed: MP4310.x You can now also enter the general parameters for the PLC in binary format. Input: $0000 [hexadecimal] %0000 0000 0000 0000 [binary] Configuring the axes and spindle
Maximum currents with UM/UR xxx D It is now possible to take advantage of the higher maximum currents listed for the PWM frequencies 3.333 kHz and 4 kHz in the “Inverter Systems and Motors” Technical Manual. The iTNC takes all necessary data and settings from the new power module table called inverter.inv, which replaces the old power module table motor.amp. If the higher currents are not needed, you can continue to use the motor.amp table. The iTNC follows a specific sequence when looking for the power module table: 1. PLC:\mp\inverter.inv 2. PLC:\mp\motor.amp 3. SYS:\mp\inverter.inv 4. SYS:\mp\motor.amp The new inverter.inv power module table is structured as follows: • NAME: Designation of the power module • PWM: PWM frequency in [Hz] at which the power module is driven • S: Switch position of the current sensor. Is required for HEIDENHAIN inverters whose name ends in “D” in order to use the higher currents named above. Input 0 or 1 • I-MAX: Maximum current of the inverter output in [A] • I-Nom: Rated current of the inverter output in [A] • U-Imax: Current sensor voltage in [V] at I-MAX • I-N-DC: Permissible continuous current in stationary rotating field or until F-DC is reached in [A] • T-DC: Time constant, how long maximum current can be applied to a stationary synchronous motor in [s] • F-DC: Lower motor base frequency down to which the motor can be loaded with I-N-DC in [Hz] • T-AC: Cycle duration for the duty cycle S6-40% in [s] • F-AC: Motor frequency from which I-MAX is permissible in [s] • T-IGBT: Protection time of the IGBTs in [s]
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Inclined milling with counting axes In order to make inclined milling possible on machines whose rotary axes are only counting axes (non-controlled axes), the following technique has been introduced: • With M128 inactive (TCPM: the position of the tool tip remains constant when positioning tilting axes), the machine operator sets the rotary axes to the required nominal values. • When M128 is activated, the control assumes the actual values of the non-controlled rotary axes, and uses them to calculate the changed position of the tool center point. • The display of axes X/Y/Z is updated with the newly calculated values, and the compensating movement is performed with the next positioning. • As long as M128 is active, the positions of the non-controlled rotary axes are monitored. If the positions of these axes deviate by more than the values defined in MP1110.x (standstill monitoring), then an error message is displayed and the momentary machining is interrupted. • This function is even permitted after a program interruption with the MANUAL TRAVERSE soft key. In this case the new compensating movement is determined after switching with the APPROACH POSITION soft key. Machine interfacing
Autorepeat function for PLC soft keys An autorepeat function can be activated for certain soft keys (ACTION and PULSE) by entering the following keywords: Example: ACTION Act_Softkey STATUS:M1100 REPEATINTERVAL:100 REPEATDELAY:200 • REPEATDELAY: . Defines the length of time the soft key must be pressed for the autorepeat function to activate. • REPEATINTERVAL: . Defines the interval at which the function assigned to the soft key is triggered (e.g. for setting a marker). New STATE soft key Using the keyword STATES: , you can manage multiple states for a soft key (STATE). In order to display these states, the BMX file of the soft key must include the corresponding number of possible states, and a PLC word memory must be assigned. If a PLC bit memory is assigned, only two states can be managed. In the following example, a value is assigned to the PLC word W1000 via a BMX soft key with five possible states. Values from 0 to 4 are assigned here: SOFTKEY spindle_attr.bmx State_Softkey STATE State_Softkey STATUS:W1000 STATES:5 New HIDE soft key keyword The keyword HIDE assigns a marker to a soft key (all types). If this marker receives the value 1, then that soft key is hidden, or exchanged for an “empty” soft key.
PLC programming
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New functions for PLC in the LOGIC DIAGRAM The recording time for the LOGIC DIAGRAM function was doubled, in order to make recording times of at least 20 seconds possible. The duration of the recording after a trigger event can be set in the window for operand selection in 4 steps [2.7 s, 5.4 s, 10.8 s, 21.5 s]. In addition, the gating logic of the operands [AND, OR] must be set. If present, the symbolic names of the selected operands are displayed.
HEIDENHAIN Technical Manual iTNC 530
Freely-definable soft-key menu for HR 420 Via the PLC, the iTNC can now also manage freely-definable soft keys on the HR 420. The corresponding entries are made in the soft-key resource file (*.spj). The soft keys for the vertical and horizontal soft-key rows of the iTNC can also be defined here. It is now possible to switch from the basic menu of the HR 420, via the FCT (Function) soft key, to a freely-definable submenu structure, whose description and functions are specified in the soft-key resource file. This menu is displayed in the fourth row of the HR 420. Four ASCII characters are available for each soft key. However, if each soft key uses all four characters, then there is no empty space between the soft-key designations. In addition, you can optionally have a menu title with 20 characters displayed in the third row of the HR 420 display for each menu. The scope of function of the soft keys on the handwheel is restricted somewhat compared to the vertical and horizontal soft keys of the iTNC screen. The following definitions are possible: Entries for the menu definition and type of soft key in the HR 420 menu: Entry
Parameters
Description
;
Comment
SKMENU ENDSKMENU
Beginning or end of the definition of a soft-key menu. The name of the menu must be specified. The soft keys are automatically assigned to the correct menu rows. Also note the additional parameters for this keyword. HRROOT
Freely-definable root menu when called from the basic handwheel menu via the FCT (Function) soft key
HRMENU
Freely-definable submenu, called via the keyword NODE ...
TITLE: Menu title: Freely definable text in the third line of the HR 420 The parameter TITLE: can also be surrounded by quotation marks. This permits blank spaces in the menu title. NODE
Soft key jumps to a submenu. Is confirmed via W306 to the PLC. The soft-key name and the name of the submenu must be indicated.
BACK
Soft key jumps to a submenu. Is confirmed via W306 to the PLC. The soft-key name and the name of the submenu must be indicated.
BLANK
Vacant soft key, is shown as “..”. You can also specify a softkey name.
ACTION
Function soft key. Is confirmed via W306 to the PLC. The soft-key name must be indicated. STATUS: addition to W306). If a marker is indicated and the soft key is pressed, the marker is set. If a word is indicated, the soft key number is entered (index number in the *.sys file, e.g. Softkey.sys).
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Entry
Parameters
PULSE
The soft key is reported to the PLC via W306 for the duration of the PLC cycle. A soft-key name must be indicated.
Description
The soft-key types RADIO, CHECK and STATE may not be used. Other parameters, such as ENABLE, HIDE, REPEAT, etc. are not yet available. Additional keywords and parameters for the description of soft keys in the HR 420 menu: Keyword
Parameters
Description
TX
#I
Language-neutral text for the description of a soft key (up to 4 ASCII characters)
#A
Input of an ASCII value as a possibility for displaying special characters. This value must be entered in decimal notation as three digits. Special characters include - 128 = Arrow up - 129 = Arrow down - 133 = Return symbol in the menu
A combination of the parameters named above is possible, e.g. #IUp#128 to display Up↑ The following example shows the configuration of a soft-key menu on an HR 420. PLC SOFT-KEY Project File - Version 1.0 SKPATH ’PLC:\SK\1024x768\’ ... TX #IUp#A128 HR_SK1 TX #IDn#A129 HR_SK2 TX #ISta HR_SK3 TX #IPul HR_SK4 TX #IEND HR_SK5 ...
Definition of the soft keys with their description
SKMENU HRRootMenu HRROOT “TITLE:Menu: Laser Head” ACTION HR_SK1 STATUS: MG_LASER_HEAD_UP ACTION HR_SK2 STATUS: MG_LASER_HEAD_DOWN NODE HR_SK3 HRSubMenu ACTION HR_SK4 STATUS: M1122 BACK HR_SK5 ENDSKMENU
SKMENU HRSubMenu ACTION HR_SK6 ... BLANK ENDSKMENU
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Root menu of the handwheel menu
HRMENU Submenu of the handwheel menu
HEIDENHAIN Technical Manual iTNC 530
Rapid navigation in the PLC status tables In the (MIOCTBWDS) table view of markers, words, etc., you can quickly switch the view to the corresponding operand table with the m, i, o, c, t, b, w, d and s shortcut keys. The b, c, and d keys are an exception in the B, W, D and HEX views, since they are needed for the entry of hexadecimal values. Terminating an NC strobe PLC messages that would terminate an NC strobe are only released once all functions that are only permitted during the strobe have been completed. PLC texts in UNICODE PLC texts in the operating mode and dialog windows from error fixes and the ERROR.A and DIALOG.A files can now be displayed in UNICODE. Starting with version 3.1 of PLCtext, it is possible to generate the files in the corresponding format. Note If texts from these files are also used in the PLC window, then they cannot be in UNICODE, but must rather use UTF8-coding. D372 – Maximum spindle speed with potentiometer setting The PLC double word D372 makes the maximum spindle speed including the spindle potentiometer available to the PLC program. This makes it possible to already acknowledge within the ramp the M functions for switching on the spindle by comparing the actual and maximum speeds. MPFRAGMENTFILE By entering MPFRAGMENTFILE = in the OEM.SYS file, you specify a file containing the paths to machine-parameter subfiles, which can be activated via FN17. The value entered in the FN17 SYSWRITE ID 1020 NR1 = function then corresponds to the MP subfile reference in this file. This makes it possible to enter any number of MP subfiles (until now only 10 files MPFRAGMENT0-9 = in OEM.SYS). Changes to spindle machine parameters (MP3xxx or MP13xxx) are only active after an S output. All other machine parameters are active immediately. The changes also remain in effect if a new NC program is selected, but not if the control is restarted. FN18 – ID310 for M116 You can use the FN 18: SYSREAD Q = ID310 NR116 function to determine whether M116 is active. If the value ascertained does not equal 0, M116 is active. FN16 – F-PRINT 31 variables can now be output per line with the FN16: F-PRINT function. FN18 – ID630 NR0 You can use the FN18: SYSREAD Q = ID630 NR0 IDX function to ascertain whether the SIK option is set. If the SIK option is set, the function returns the value1.0. Otherwise it returns 0.0. FN18 – ID630 NR1 You can use the FN18: SYSREAD Q = ID630 NR1 function to display the Feature Content Level (FCL) in order to ascertain the possible upgrade functions. If no Feature Content Level is set, the function supplies the value –1.0. Otherwise, for example, it supplies 2.0 for Feature Content Level 2.
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FN17/FN18 – ID2000 Block function With the ‘FN17/FN18 ID2000 NR’ functions you can transfer up to eight variables in a call between an NC program and the PLC. In addition, using FN17 you can now also transfer PLC bytes, words, and double words, not just markers. Example: FN 17: SYSWRITE ID 2000 NR10 IDX1000 = BLOCK Q1620 - Q1627 Here the contents of parameters Q1620 to Q1627 are written to PLC markers M1000 to M1007.
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No.
Description
IDX
10
PLC markers
No. of marker
FN17 FN18
20
PLC inputs
No. of input
X
30
PLC outputs
No. of output
X
40
PLC counters
No. of counter
X
50
PLC timers
No. of timers
X
60
PLC byte
No. of byte
X
X
70
PLC word
No. of word
X
X
80
PLC double word
No. of double word
X
X
X
X
HEIDENHAIN Technical Manual iTNC 530
PLC modules
Changed: Module 9223 (Free Rotation) Module 9223 can now also be used for PLC axes. Changed: Module 9038 (Read Axis Information) Status information number 9 is used to ascertain whether the axis being interrogated is a slave axis. Number 9: 0 = No slave axis 1 = Slave axis Module 9133 Output of Hardware Information (changed) PLC Module 9133 is used to ascertain the supply voltages (numbers 4 and 5) as well as the shaft speed of the housing fan (number 6). Call: PS
CM PL
B/W/D/K 0: Internal temperature sensor in [°C] 1: Temperature CPU1 (basic PCB) in [°C] 2: Temperature CPU2 (additional PCB) in [°C] 3: Voltage of buffer battery in [mV] 4: 5-V supply voltage of main board 5: 3.3-V supply voltage 6: Shaft speed of the housing fan 9133 B/W/D
Error recognition: Marker
Value
Meaning
M4203
0
Value was determined
1
Error code in W1022
W1022
2
Invalid number given
8
No second CPU present (for number 2)
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Module 9143 Activating the brake test The brake test can be activated with PLC Module 9143. It is performed axisspecifically with the settings from MP2230.x and MP2232.x, or with special given values. Call: PS PS PS CM
B/W/D/K 0 to 13 and 15: Axes 1 to 14 and the spindle B/W/D/K Value in 1/1000, 0: Value from MP2230.x B/W/D/K Path in 0.1 μm, 0: Value from MP2232.x 9143
Error recognition: Marker
Value
Meaning
M4203
0
Brake test started
1
Error code in W1022
2
Invalid axis number
W1022
Module 9185 Touchpad status PLC Module 9185 is used to lock or enable the touchpad (X142) on the keyboard connected via USB. It is also possible to interrogate the status. Call: PS
CM PL
B/W/D/K 0: Enable touchpad (UNLOCK) 1: Lock touchpad (LOCK) 2: Status request 9185 B/W/D -1: Status not defined 0: Touchpad is enabled 1: Touchpad is locked
Error recognition:
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Marker
Value
Meaning
M4203
0
Function was performed
1
Error code in W1022
W1022
2
Invalid mode
HEIDENHAIN Technical Manual iTNC 530
New smarT.NC functions
DXF converter (Option #42) Contour programs (*.HC files) can be generated directly by the DXF converter. Note In order to take full advantage of the DXF converter’s function, you need a screen pointing device (such as a UCB mouse or touchpad), in order to select the contour elements, for example. Coordinate transformation (upgrade function) The datum shift, rotation, mirroring, and scaling factor coordinate transformations are now available in form view. PLANE Function (upgrade function) The PLANE function is now also available in form view. Graphic block scan (upgrade function) Block scan with graphically-supported possibility for selecting the entry point if it is within a point file. Contour-pocket depth (upgrade function) Within the contour pocket you can now assign a separate depth to each subcontour (or height for island contours). Copy/Paste/Cut Copying/Pasting/Cutting of units is now possible via soft keys or the keyboard commands CTRL+C/CTRL+V/CTRL+X. Switch between alternatives for feed rates Switch via soft key between the possible feed rates: F (feed rate in mm/min), Fz (feed rate per tooth in mm/tooth) and Fu (feed rate in mm/rev). Entry of the cutting velocity – VC When entering the spindle shaft speed, it is now possible to enter it as a prescribed cutting velocity (at the cutting edge). The iTNC then calculates the spindle speed necessary. The VC soft key was introduced for this purpose. Tool selection window Tool data can now be edited in the tool selection window. Incremental entry of machining positions Machining positions can now be entered incrementally directly in a machining unit’s form. This is possible as an option starting from the second position in the form. You can switch to incremental entry either via soft key or the I key. Assumption of workpiece blank The workpiece blank is automatically assumed from the unit program into a new contour description program.
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Plain-text dialog keys in forms The orange keys (X, Y, Z, P, I) of the standard keyboard now also function within contour programming in smarT.NC. QuickInfos in forms QuickInfo texts are now available for most input fields and option boxes in the forms. QuickInfo texts contain information about the respective functions, and appear on the screen when the mouse remains on the element for more than one second.
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HEIDENHAIN Technical Manual iTNC 530
New plainlanguage programming functions
DXF converter Contour programs (*.H files) can be generated directly by the DXF converter (software option).
Note In order to take full advantage of the DXF converter’s function, you need a screen pointing device (such as a UCB mouse or touchpad), in order to select the contour elements, for example. Entry of the cutting velocity – VC When entering the spindle shaft speed, it is now possible to enter it as a prescribed cutting velocity (at the cutting edge). The iTNC then calculates the spindle speed necessary. The VC soft key was introduced for this purpose. FK-H conversion The functionality of this conversion no longer depends on the setting of the Automatic Drawing On/Off soft key. That means that this function is no longer restricted to the PROGRAM+GRAPHICS screen layout. The soft-key row for converting from NC programs is now available in all screen layouts in the Programming and Editing operating mode via the CONVERT PROGRAM soft key. Two soft keys are now offered for the conversion of NC programs with free contour programs into simple plain-language programs. • The Convert FK->H Structure soft key maintains the program structure, and the NC blocks with free contour programming are replaced by plainlanguage blocks. Programs with Q parameters cannot be converted with this soft key. • The Convert FK->H Linear soft key outputs a linearized program. This program follows the actual machining sequence. All programs can be converted with this soft key. CAD point filter (offline) (upgrade function) With this new function, externally created NC programs can be filtered. The NC programs are read out, and the traverse paths are recalculated and smoothed. The result is a new NC program with smoothed contours. It is saved with the file name amendment “_FLT” (e.g. “contour_FLT.h”). The filter function also generates useful additional path points when the gaps between individual contour segments are too large. This can also increase the size of the NC program. This function is called in the Programming and Editing operating mode, via the CONVERT PROGRAM soft key and then the new soft key for the point filter. Machining depth of subcontours For contours which you connect via the contour formula, you can now assign separate machining depths for each subcontour. New ISO functions
PLANE Function The PLANE function is now available in ISO programming for tilting the machining plane. The syntax is identical with the plain-language syntax.
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New touch probe functions
Cycle 441 – Rapid Probing (upgrade function) The new touch probe Cycle 441 is available, with which you can globally set different touch probe parameters (e.g. positioning feed rate) for all subsequently used touch probe cycles. This makes it easy to optimize the programs so that reductions in total machining time are achieved. Probing with active basic rotation in manual operating modes The TNC now also takes into consideration an active basic rotation (if activated via MP6166) for the probing functions in the Manual (El. Handwheel) operating modes. Under consideration of the active angle of rotation, the touch probe moves at an angle in the direction you programmed. Measuring log on the TNC screen Cycles 420 to 431 for automatic tool measurement can now also display the measuring log in a pop-up window on the screen. If you set parameter Q281 = 2, then the control interrupts program run and displays the measurement result. Press the NC Start button to close the pop-up window and continue program run.
New handwheel functions
Freely-definable soft-key menu for HR 420 Via the PLC, the iTNC can now also manage freely-definable soft keys on the HR 420. See “PLC programming” on page 14. New behavior with the HR 420 The feed-rate potentiometers of the HR 420 and the keyboard unit are no longer switched over automatically when the handwheel is selected or deselected. In order to switch the potentiometers, you must press the + keys on the handwheel. A selection menu appears on the handwheel display, asking whether the potentiometers on the operating panel or the handwheel are to be active. F1 = HW: Handwheel F2 = KBD: Keyboard If the handwheel potentiometers are active, but the handwheel itself is not, a message appears on the control screen. Small pop-up window for HR 420 The pop-up window for the active HR 420 was made smaller, in order to improve the view of the display beneath it.
Programming station (Id. Nr. 340 494-02 and new: Id. Nr. 386 753-02)
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Scope of function of the programming station All software options (SIK) are now enabled for the programming station software. Virtual keyboard (programming station with USB dongle) A new programming station (Id. Nr. 386 753-02) is being presented with the release of NC software 340 49x-02. It is operated via soft keys and a virtual keyboard, which is controlled via the mouse. It is enabled with the USB dongle included in delivery. This means that no keyboard unit is required. A screen resolution of at least 1280 x 1024 pixels is necessary for this.
HEIDENHAIN Technical Manual iTNC 530
PLC basic program for programming station When installing the programming station, the PLC basic program can now also be installed, ready-to-run, from the setup menu. You must select “Userdefined” installation during the setup, and then select the installation of the PLC basic program. This permits you to simulate functions in the machine operating modes In addition to the horizontal and vertical soft keys, which you click with the mouse, various functions (such as the simulation of axis and spindle motions) can be performed with key combinations from the keyboard unit. When you start the programming station, the error message “98 TNC programming station active” appears. This is an opportunity to read a brief description of how to perform these functions. Press the Help key to call this brief description. You can simulate the following machine functions with both the keyboard unit and the mouse. Function
Key combination
NC start
[CTRL] + S
NC stop
[CTRL] + X
Axis plus
[CTRL] + Arrow Up
Axis minus
[CTRL] + Arrow Down
Emergency stop
[ALT] + X
Vertical soft key 1 (top)
[SHIFT] + [CTRL] + [ALT] + 1
:
:
Vertical soft key 6 (bottom)
[SHIFT] + [CTRL] + [ALT] + 6
Public key “PLC” The new, additional public key “PLC” was introduced for the PLC programming interface (code number 807667). It only functions with the programming station software. Indication of digital outputs in MP120.x In MP120.x, digital outputs can now be entered in the software for the programming station (e.g. X51 to X64).
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iTNC – Operation and technique
3-D line graphics (upgrade function) The powerful 3-D LINES viewing option has been added to the Programming and Editing operating mode. It is activated via the soft key of the same name, which is available using the key for the screen layout. The following functions are now available in this viewing option: • Display of the currently selected traverse path in the NC program with its own color within the 3-D graphics (see figure) • 3-D rotation with the mouse, including display of the active coordinate system • Standard zoom functions with very high resolution • Standard motion and rotation functions via soft keys
Table editor in form view Tables (with the extension *.TAB) can now be edited in a form view. You can switch to it with the LIST FORM soft key after having selected the table.
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HEIDENHAIN Technical Manual iTNC 530
Automatic determination of the dynamic load (only CC 424) The dynamic load (inertia) of axes can automatically be detected with a measuring cycle created by the OEM. The result measured is the maximum torque which occurred, in % of the rated torque. It is determined between the beginning and end of a measurement, and can be stored in a buffered variable. The values can be output at any time. This makes it possible, using the measured value and an NC macro, to automatically adapt the machine parameters by selecting an appropriate MP subfile. • FN 17 SYSWRITE ID621 NR 0 IDX = 0 to start the measurement. • FN 18 SYSREAD Q = ID621 NR 0 IDX to read the result and stop the measurement. • FN 17 SYSWRITE ID 590 NR 2 IDX (is not cleared when a program is selected) and FN 17 SYSWRITE ID 590 NR 3 IDX (secure from power failure) for storing the result (IDX = 1..30). • FN 18 SYSREAD ID 590 NR IDX for reading the stored value (IDX = 1..10). • Creation of an NC macro, which is run when a program is concluded with M02, M30 or END PGM (keyword RUNENDPGM in NCMACRO.SYS). In the Manual operating mode, this macro must also be saved in the M-function table under M02 and M30. • FN 17 SYSWRITE ID 120 IDX 2 to deactivate a machine parameter subfile. LIFTOFF at powerfail (only CC 424) If the power fails and LIFTOFF is enabled (M148 must be active, column LIFTOFF in the tool table = Y, PLC: M4620=1), an attempt is made to lift the tool from the contour by the distance given in MP1160 with the help of the remaining energy of the dc-link. Certain conditions must be maintained before and during LIFTOFF. • The 24-V power supply must be maintained for at least 1 second (USB for 24 V, or buffer capacity or capacitor) • The PLC may not switch off the controller via Module 9161 • AC-Fail may not be evaluated (MP2150 = 3) • The wye-delta contactor combination may not fail, otherwise the spindle could not be controllable during liftoff Note LIFTOFF only functions with HEIDENHAIN inverters.
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Reference-point setting with the PLANE function, Hirth-coupled axes and active M114 If rotary axes with Hirth coupling are positioned via PLC or NC, angles can only be entered according to a certain grid. Machining can be performed in any plane by tilting the plane with the PLANE function and programming the rotary axis grid coordinates with M114 (automatic compensation of the machine geometry when working with tilting axes). Starting with software 340-49x-02, it is possible to save and set reference points in this state. The iTNC uses the nominal positions of the rotary axes programmed in M114 to calculate the reference point. With MP7493 the machine manufacturer can enter a maximum deviation of the rotary axes based on the nominal position resulting from the orientation of the working plane. The control accepts this deviation when setting reference points and when measuring with M114. The default value for this machine parameter is 0.005. The iTNC then uses the current ACTUAL/NOMINAL positions (MP7682, bit 1) of the rotary axes to calculate the reference point. Note Please note that in this procedure the tool might not be perpendicular to the tilted working plane.
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HEIDENHAIN Technical Manual iTNC 530
Network: IP address via DHCP (upgrade function) Using the code number NET123 and the DEFINE NET soft key, “DHCP” can now be entered as the network address in the ADRESS column. In this case the control automatically retrieves the network address (IP address), the subnet mask (MASK column) and any necessary broadcast address (BROADCAST column) from a DHCP server on the network (Dynamic Host Configuration Protocol). If necessary, “DHCP” can also be entered in the ROUTER column, so that the IP address of a default router can automatically be retrieved by the DHCP server. If necessary, the IP address of the control can be determined by the network from the network name. This name can be found on the control under DEFINE NET in the HOST column. On the network the IP address can be ascertained via command line (DOS window) with the “ping ” command (e.g. ping TNC_123). Below is the example for the configuration of a table which is accessed via Programming and Editing, MOD, code number NET123 and the DEFINE NET soft key: ADRESS DHCP
MASK
BROADCAST
ROUTER HOST TNC_123
DOMAIN NAMESERVER DHCP
Note In order to maintain the simple procedure for establishing a network connection between the control and the computer software from HEIDENHAIN, such as TNCremoNT, TNCopt or PLCdesignNT, the newest versions of the software also support the entry of host names or network names instead of the IP address. For example, if the name “TNC_123” is entered via code number NET123 and the DEFINE NET soft key in the HOST column, it can be entered in TNCremoNT in the IP address field for configuring the connection.
Network: Name resolution via DNS (upgrade function) Via code number NET123 and the DEFINE NET soft key, the name of a domain can be entered in the DOMAIN column, and the IP address of a Domain Name Server (DNS) in the NAMESERVER column. This resolves the symbolic computer names in this domain, and the entry of IP addresses in the mount table (via the DEFINE MOUNT soft key) is no longer needed. If “DHCP” is entered in the DOMAIN column, entering a domain name and an IP address of the name server is not necessary. These are then automatically assigned by the network.
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Expanded USB functionality (USB 1.1) (upgrade function) When attached, USB devices that use the VFAT or ISO 9660 file systems (not NTFS or other systems) are detected and connected automatically. The file manager features soft keys for removing and reconnecting these devices to the directory tree. These appear when the More Functions soft key is pressed, if the USB memory device was selected in the file manager. If this is not the case, only the soft key for reconnection is shown.
Note In order to remove a USB memory device, you must always press the More Functions and
soft keys. Otherwise data on the data carrier could be lost. HEIDENHAIN has successfully tested the following USB memory devices: Type
Manufactu Device rer
VendorID ProductID Revision
Floppy
TEAC
TEAC FD-05PUW 0644
0000
0.00
Floppy
TEAC
TEAC FD-05PUB 0644
0000
0.00
CDROM TEAC
USB CD-ROM 210PU
0644
1000
1.33
CDROM FREECOM
USB2-IDE Controller
07ab
fc02
11.10
HD
UNKNOWN USB TO IDE
05e3
0702
0.02
Stick
QDI
UNKNOWN
0c76
0007
1.00
Stick
TrekStor
USB MiniStick
0c76
0005
1.00
Stick
Transcend
TS512MJFLASH
058f
9380
1.00
Stick
Transcend
Flash Disk
0ea0
2168
2.00
Stick
Generic
Mass Storage
058f
9384
1.05
Other devices are also supported, but the customer must test them on a caseby-case basis. New software update guidance, starting with NC software 340 490-02 The update functionality of the iTNC was revised. See “New Update Procedures Once Software 340 49x-02 Has Been Installed” on page 32. Access to PRESET table The preset table can now be accessed from the first soft-key row. The SET DATUM and INCREMENT soft keys were moved to the second soft-key row. Now the line of the currently active preset is also the active line when the preset table is accessed.
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HEIDENHAIN Technical Manual iTNC 530
New functions in the PRESET table Two new functions are available in the preset table. You can now • • • •
incrementally correct a preset already saved for an axis set a preset in an axis set a preset in an axis to 0 directly enter a value in the PRESET table
Cycle dialogs in UTF8 The dialogs of parameters for OEM cycles can now be displayed as UTF8encoded texts (e.g. for Asian languages). In order to create these OEM cycle projects, you need at least version 4.2 of CycleDesign and version 3.1 of PLCtext. Axis traverse limits for PLC auxiliary axes For rotary and PLC auxiliary axes for which axis traverse limits were entered in MP810, you can now enter axis traverse limits in the Manual and Program Run operating modes via the MOD key. The limit-switch monitoring for these axes must have been activated in MP812. New design for soft keys All soft keys were redesigned. Switch-off during “power interruption” The control can now already be switched off in the “power interrupt” state with the Shutdown soft key. Editing system files The function introduced in software 340 49x-01 for editing system files (*.SYS) in the editor for machine parameters was disabled. Czech texts with special characters The texts in Czech (e.g. dialogs, DSP error messages and their help texts) are now displayed with the appropriate special characters.
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1.4.3 New Update Procedures Once Software 340 49x-02 Has Been Installed Previous
The previous procedure for software updates can continue to be used. In addition, service packs can be selected and deleted in the selection dialog box.
What’s new?
The following files are now necessary for an update, and must be located in the same directory: - setup.zip - setup.omf (setup.exe in Windows) - setup.ini (this is to be created by the OEM, and is only necessary if the update is to occur according to a specific sequence) Please note that this currently means that the version of the software to be installed is not displayed in advance. Note You can download the two files necessary for the update (setup.zip and setup.omf) from the HEIDENHAIN FileBase under “NC Milling iTNC530 > Software” as a single ZIP file, e.g. 340490_002.zip, and unzip them in your Update directory. Software updates and service packs are loaded in the same manner. Automatic update possible. If your directories are structured appropriately, this method makes it possible to update the control automatically when it is booted. If there is an “install” directory on your iTNC containing a setup.ini control file, an update is performed automatically according to the instructions in this control file (see “Control file for automatic update (setup.ini)” on page 1 – 34). The following directories are checked during booting for the presence of a control file: • iTNC without Windows - TNC:\install\ or, if a USB memory device is connected - USB0:\install\ (USB0: first partition of the first USB memory device) • iTNC with Windows - D:\install\ or, if a USB memory device is connected - G:\install\ (G: corresponds to the drive letter of the USB memory device – network drives are not permitted!) Start the update via the keyword SETUP No naming convention according to the usual format is necessary Copying of the update files (setup.omf/exe and setup.zip) to the system partition occurs automatically as part of the update program in directories with the following naming convention: • iTNC without Windows - Software update: SYS:\zip\_ - Service pack: SYS:\zip\__SP • iTNC with Windows - Software update: C:\Program Files\install\_ - Service pack: C:\Program Files\install\__SP
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HEIDENHAIN Technical Manual iTNC 530
Warning No manual changes may be made to these directories, since they might be required for restoring earlier software versions. A query appears, asking whether the necessary binary to ASCII conversions should be performed. If yes, then a procedure in case there is not enough memory is requested: - Cancel if not enough memory - Delete largest or oldest files first This can be automated in the control file mentioned above. Only files whose binary version has changed are converted. The NC software has been prepared in such a manner that when an update is performed or a service pack loaded, the PLC program and PLC partition can be updated as well, according to the requirements of the OEM. When the NC software is updated, the OEM uses the HEIDENHAIN PC software PLCdesignNT to add all necessary files to the setup.zip archive. These files are copied to the appropriate locations during an update. Note The support necessary for this from PLCdesignNT will be available starting in the next release (version 2.3). It is not possible to update only the PLC data but not the NC software. If the PLC:\_mpupdate directory is created during the automatic update by the OEM, then files that automatically update or expand the active and selected MP or OEM.SYS files when the control is started can be saved here. Files containing the name merge.* (merge.mp and merge.oem.sys) expand the MP and OEM.SYS files by the entries contained in them. Files containing the name overwrite.* (overwrite.mp and overwrite.oem.sys) contain updated entries for the corresponding files, and overwrite entries with the same names in the MP and OEM.SYS files. MP subfiles are ignored here. After successful installation, these ASCII files are automatically reconverted to binary format.
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Control file for automatic update (setup.ini)
In order to automate an update as much as possible, a control file with the name setup.ini is necessary. This file can be created with a simple text editor. An example of a setup.ini file: Interactive=1 Confirm=1 Language=GERMAN SavePlc=TNC:\backup\340422_012.zip The following settings are selectable:
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Parameters
Description
Interactive=[0,1]
Deletion of the NC software archive (old software versions) and binary to ASCII conversion must be confirmed by the user. 0: No 1: Yes [default]
Confirm=[0,1]
Start of update and reboot process must be confirmed by the user 0: No 1: Yes [default]
ServiceRequest=[0,1]
A service request is triggered after an update (only if remote diagnosis is active) 0: No [default] 1: Yes
ConvertToAscii=[0,1] (only if Interactive=0)
Binary to ASCII conversion with automated update process (not with service pack) 0: No 1: Yes [default]
CopyToSys=[0,1]
The setup archive to be installed is copied to the directory SYS:\zip (iTNC with Windows: C:\Program Files\install). This makes it possible to return to this software version later. 0: No 1: Yes [default]
DeleteFiles= [DATE,SIZE,CANCEL] (only if Interactive=0)
Procedure during binary to ASCII conversion during automated update if there is not enough memory available on the TNC or PLC partition DATE: Delete oldest files first SIZE: Delete largest files first CANCEL: Cancel the update [default]
DeleteArchives= [DATE,SIZE,CANCEL] (only if Interactive=0)
Procedure is there is not enough room on the SYS partition for the update DATE: Delete oldest archive first SIZE: Delete largest archive first CANCEL: Cancel the update [default]
HEIDENHAIN Technical Manual iTNC 530
Parameters
Description
Language=[ENGLISH, GERMAN] (only if Confirm=0)
Language for the dialog guidance during the update if no user activities are required for starting the update and rebooting (Confirm=0) GERMAN: German dialog text ENGLISH: English dialog text [default]
DelSource=[0,1]
Delete the source files (setup.zip, setup.ini, setup.omf/exe) once the update has completed successfully 0: No [default] 1: Yes
DeleteIni=[0,1]
Delete the setup.ini file after a successful update. 0: No [default] 1: Yes
SavePlc=
If the software is updated from 340 49x-02 or higher to a newer version, then the entire PLC partition can be stored as a ZIP file in binary format. This makes it possible to restore this software state including the PLC files. Here you enter the path and file name for the ZIP file in which the entire PLC partition is saved in binary format. Please consider the software version when assigning the file name.
RestorePlc=
The “Restore” function is used to restore the PLC data to a certain software state. Here you enter the path and file name for the ZIP file containing the PLC data state (in binary format) appropriate to the NC software version to be installed. This should be the ZIP file which was saved with the “SavePlc” function, containing the corresponding PLC state and saved on the PLC partition.
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New update for iTNC without Windows
Manual update The following procedure is used to perform a manual update (without a setup.ini file in the setup directory) or an installation of a service pack: 8
HEIDENHAIN recommends making a backup for the control
8
Connect the drive or USB device containing the files necessary for the update (setup.zip, setup.omf)
8
In the Programming and Editing mode, press the MOD key
8
Enter the keyword Setup
8
In the browser, select the directory and the corresponding Setup.omf file
8
Select the desired language for the update guidance
8
Choose the desired action for the event that there is not enough memory available on the TNC or PLC partition for the binary to ASCII conversion: - Cancel if not enough space: The update procedure is cancelled if there is not enough space available, and a message to this effect appears. In this case you must save the files (*.h, *.i, and tables) externally, if they are needed, and then remove them manually in order to make space for the conversion. - Delete largest files first: The largest files (*.h, *.i, and tables) are deleted until there is enough space for the conversion. - Delete oldest files first: The oldest files (*.h, *.i, and tables on the PLC and TNC partitions) are deleted until there is enough space for the conversion.
8
If there is not enough space on the SYS partition, select deletion of the oldest setup files. This procedure is repeated until there is enough memory space available.
8
Confirm the update actions listed and that are to be performed.
8
After the update has finished successfully, confirm the restart of the control. Note If a setup.ini file exists in the setup directory when you update manually, then the update is performed according to the instructions in this file. See “Control file for automatic update (setup.ini)” on page 34.
Automated update If one of the following directories exists when an iTNC without Windows is booted, - TNC:\install\ or, if a USB memory device is connected - USB0:\install\ (USB0: first partition of the first USB memory device) and if a setup.ini control file is saved in this directory, then an automated update is performed according to the instructions in this control file (see “Control file for automatic update (setup.ini)” on page 1 – 34). An automated update is usually a part of a manual update. This means that you can use the control file to reduce the number of user actions necessary for the update to a minimum, and at the same time make a backup of the PLC partition.
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HEIDENHAIN Technical Manual iTNC 530
Update via remote operation How to perform an update via remote operation: 8
In the Programming and Editing mode of the iTNC, press the MOD key
8
On the iTNC, activate remote maintenance by pressing the Service ON soft key. A “service request” is triggered and a connection is established.
8
Transmit the setup.omf and setup.zip files to a suitable directory on the control (e.g. TNC:\update)
8
Continue the update via remote operation as described under “Manual update”
Notes on updating via remote operation If remote maintenance is active when the update is started, the remote maintenance is deactivated (this does not affect the current remote operation). After the reboot or after the update was cancelled due to an error, a service request is triggered. The service request information indicates whether the update was successful. If the control does not boot due to missing or incorrect machine parameters, a service request is triggered until the “power interrupt” stage of the boot process is reached. New update for iTNC with Windows
Manual update The following notes apply to software updates and installations of service packs for the iTNC with Windows: The actual update process is started as previously in Windows. Service packs are now installed according to this method. The soft keys on the control for installing service packs have been omitted. Since the update procedure itself is now capable of stopping the NC software in order to perform an update, the procedure for stopping the NC software via the Control Panel has been omitted. In addition, analogous to the iTNC without Windows, manual binary to ASCII conversion is no longer necessary. This can now also be performed during the update procedure. A warning appears if no automatic conversion is possible. Automated update If one of the following directories exists when an iTNC with Windows is booted, - D:\install\ (D: corresponds to the TNC partition) or, if a USB memory device is connected - G:\install\ (G: corresponds to the drive letter of the USB memory device – network drives are not permitted!) and if a setup.ini control file is saved in this directory, then an automated update is performed according to the instructions in this control file (see “Control file for automatic update (setup.ini)” on page 1 – 34). If this file does not exist, the update must be started manually via the SETUP keyword. An automated update is usually a part of a manual update.
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1.5 Additional Enhancements to NC Software 340 492-xx and 340 493-xx Installation
The following changes were made to the Windows 2000 installation for newly delivered removable hard drives (HDR): • • • •
Automatic Windows updates were deactivated The energy saver for the screen was deactivated Microsoft Hotfix KB814078 was loaded The Microsoft Java Virtual Machine (MSJVM) was removed
Note HEIDENHAIN recommends deactivating the screen’s energy saver for existing installations.
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HEIDENHAIN Technical Manual iTNC 530
1.6 Hardware 1.6.1 TE 520 B General information
The TE 520 B is the same as the TE 530B, with a SPEC FCT key and keys for smarT.NC, but without a touchpad. In some cases the TE 530 B cannot be used because of its touchpad. The USB cable is longer than 36 m When using two operating panels, which are switched with the BTS 1xx, only one touchpad can be active (touchpad at X142). The new TE 520 B keyboard unit should be used in these cases.
TE 520 B TNC operating panel without touchpad With function keys for the new smarT.NC operating mode, as well as the new SPEC FCT key for calling special TNC functions. The IV and V keys are snap-ons, and can be switched.
Id. Nr. 535 835-01 TE 520 B
September 2005
Hardware
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Dimensions 30 +10
400
25 +10
12
274
258±0.2
8
376±0.2
¬ 5.5 M5
¬ 10
¬ 8 +10
M5
1 4
+1 0
f 251 (7)
258±0.2
11x45°
m
376±0.2 +1 f 384 0
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HEIDENHAIN Technical Manual iTNC 530
1.6.2 iTNC 530 Programming Station iTNC 530 programming station
The iTNC 530 programming station was revised: Keyboard adapted to the TE 520 B: with SPEC FCT key and keys for smarT.NC, without touchpad No potentiometers New housing design
iTNC 530 programming station TE 520 B TNC operating panel without touchpad With function keys for the new smarT.NC operating mode, as well as the new SPEC FCT key for calling special TNC functions. The IV and V keys are snap-ons, and can be switched.
Id. Nr. 532 524-01 Programming station Included in delivery: Programming station software on CD TE 520B keyboard in new housing design with additional keys for smarT.NC and the soft keys
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Programming station with virtual keyboard
The programming station is now available just as software with an integral keyboard. The TNC-specific functions are called via a virtual keyboard using the mouse. All necessary keys are included, and so even without the separate TE 520B keyboard unit, you have a fully-functional programming station. It is enabled with the USB dongle included in delivery.
Id. Nr.:
386 753-02
Included in delivery:CD-ROM, USB dongle Availability:
Series (with release of NC software 340 49x-02)
Note Your screen resolution must be at least 1280x 1024 pixels in order to use the virtual keyboard of the programming station.
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HEIDENHAIN Technical Manual iTNC 530
1.6.3 UV 106B General information UV 106 B power supply unit for analog HEIDENHAIN contouring controls The UV 106 B power supply unit was designed so that the iTNC 530 could be used with a compact, coordinated system for analog nominal shaft-speed interfaces (+/– 10 V). It supplies the iTNC 530 with the supply voltages necessary for operation. The UV 106 B (Id. Nr. 546 581-01) is being introduced as a replacement for the UV 106 (Id. Nr. 366 572-11).
Id. Nr. 546 581-01 UV 106 B UV 106 B Specifications Specifications
UV 106 B
Power supply (at X31)
400 Vac ± 10 % 50 Hz
Protection
6.3 A / gRL
Load capacity (5 V)
20 A
Power consumption
Max. 400 W
Degree of protection
IP 20
Module width
159 mm
Weight
4 kg
ID number
September 2005
546 581-xx
Hardware
1 – 43
Dimensions of UV 106B
M5
24.5+0.2 158.25+0.75
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HEIDENHAIN Technical Manual iTNC 530
1.6.4 UV 105 B (Non-HEIDENHAIN Inverter Systems) General information
The UV 105 B (Id. Nr. 532 556-01) was designed solely for the use of HEIDENHAIN controls in connection with non-HEIDENHAIN inverter systems. It is essential for the supply voltages of the HEIDENHAIN control units. UV 105 B power supply unit for the operation of HEIDENHAIN controls with non-HEIDENHAIN inverter systems
Id. Nr. 532 556-01 UV 105B
UV 105 B
Specifications Specifications
UV 105B
Power supply (at X31)
400 Vac ± 10 % 50 Hz
Protection
6.3 A / gRL
Load capacity (5 V)
20 A
Power consumption
Max. 400 W
Degree of protection
IP 20
Module width
159 mm
Weight
3 kg
ID number
532 556-01
Warning The UV 105 B is not compatible with the UV 105 (Id. Nr. 344 980-xx), and no HEIDENHAIN inverter components can be operated with this supply voltage.
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Status signals via ribbon cable Note For the control to be able to evaluate the status signals of the power supply unit, the ribbon cable of the UV 105 must be connected with X69 of the control. Connection: 50-pin ribbon connector 1a to 5b 6a to 7b 8a
9a 9b
50-pin ribbon connector +5 V 16b +12 V 17a +5 V (low-voltage 17b separation) 0 V (low-voltage 18a separation) +15 V 18b –15 V 19a
10a 10b 11a 11b 12a 12b 13a 13b 14a 14b 15a 15b 16a
UZAN 0V IZAN 0V RES.PS 0V PF.PS.ZK GND ERR.UZ.GR GND ERR.IZ.GR GND ERR.TMP
8b
X74: 5-V connection of the UV 105 B
Assignment
GND RDY.PS GND ERR.ILEAK GND PF.PS.AC (only UV 120, UV 140, UV 150, UR 2xx) GND Do not assign GND Do not assign GND Do not assign GND Reserved (SDA) GND Reserved (SLC) GND RES.LE GND
Connection: Wire color of 5-V connection BK RD
1 – 46
19b 20a 20b 21a 21b 22a 22b 23a 23b 24a 24b 25a 25b
Assignment
5-V terminal on CC 42x 0V +5 V
HEIDENHAIN Technical Manual iTNC 530
X31: Supply voltage for UV 105 B
Supply voltage: 400 V ± 10 % Connection: Connecting terminal U V
+Uz –Uz
Assignment Phase 1 / 400 Vac ±10 % / 50 Hz to 60 Hz Phase 2 / 400 Vac ±10 % / 50 Hz to 60 Hz Equipment ground (YL/GY), ≥ 10 mm2 Cable: Wire cross section: 1.5 mm2 (AWG 16) Line fuse: 6.3 A (gRL) Siemens Sitor type Positive dc-link voltage of the nonHEIDENHAIN inverter system Negative or reference potential of the dc-link voltage of the non-HEIDENHAIN inverter system Cable: Wire cross section: 1.5 mm2 (AWG 16) The dc-link connection of the UV 105B is protected by the additional PCB on the non-HEIDENHAIN inverter system (4 A)
Tightening torque: for the connecting terminals 0.7 Nm (6.5 - 7 lbs/in) Grounding terminal: ≥ 10 mm2 (AWG 6) Strain relief: Ensure that the connecting cables are not subject to excessive strain Note If you are using non-HEIDENHAIN inverter systems, you must connect the supply voltage to the terminals U and V via an isolating transformer (300 VA, basic insulation as per EN 50 178 and VDE 0550). Warning When using an isolating transformer, do not ground this isolating transformer on the secondary side! The isolating transformer decouples the line voltage from ground. Grounding the isolating transformer on the secondary side leads to an addition of the dc-link voltage and the supply voltage. This could destroy the UV 105B! Please keep this in mind in your circuit diagrams.
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Hardware
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UZ: Supply of the UV 105 B with UZ
1 – 48
Since the power to the UV 105B is supplied through the dc-link, the voltage fed into the dc-link by the motors that are still running can be used during line voltage failures. The UV 105B uses this voltage to maintain the power supply to the control until the non-HEIDENHAIN inverter system has been shut down properly by the control. Connecting terminals
Assignment
–UZ (–UDC)
DC-link voltage –
+UZ (+UDC)
DC-link voltage +
HEIDENHAIN Technical Manual iTNC 530
Dimensions for UV 105 B
M5 M4 5.5 50
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✎
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HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 15 1.1 Service Packs The following service packs have been released:
April 2006
Service pack
NC software
Release
340 490-02 SP1
340 490-02
October 2005
340 491-02 SP1
340 491-02
October 2005
340 492-02 SP1
340 492-02
October 2005
340 493-02 SP1
340 493-02
October 2005
Service pack
NC software
Release
340 490-02 SP2
340 490-02
November 2005
340 491-02 SP2
340 491-02
November 2005
340 492-02 SP2
340 492-02
November 2005
340 493-02 SP2
340 493-02
November 2005
Service pack
NC software
Release
340 490-02 SP3
340 490-02
December 2005
340 491-02 SP3
340 491-02
December 2005
340 492-02 SP3
340 492-02
December 2005
340 493-02 SP3
340 493-02
December 2005
Service pack
NC software
Release
340 490-02 SP4
340 490-02
February 2006
340 491-02 SP4
340 491-02
February 2006
340 492-02 SP4
340 492-02
February 2006
340 493-02 SP4
340 493-02
February 2006
Service Packs
1–1
1.2 Hardware There is a new, more powerful MC 422C for the standard versions of the iTNC 530. As of May 2006, this hardware replaces the single-processor version of the MC 422B. The MC 422C will at first only be available in a single-processor version. Dualprocessor versions will continue to be delivered as MC 422B for the time being. Properties of the MC 422C: Pentium III with 800 MHz 256 MB RAM
Main computer (standard version)
Signal inputs
Id. Nr. of MC for BF 150 display unit
Replaces Id. Nr.
Without position encoder – inputs (for CC 424)
587 929-01
387 173-01
5 position encoder inputs Position: 1 VPP/EnDat
587 932-01
387 181-01
10 position encoder inputs
587 934-01
387 189-01
MC 422C
All accessories (e.g. SIK, HDR, etc.) for the new MC 422C hardware are identical to the hardware for the MC 422B. Please note that the iTNC 530 software can only run on the MC 422C if the following software versions are installed: Id. Nr. 340 490/491-02: Service pack 05 available starting the middle of April 2006 Id. Nr. 340 422/423-13: New software version 340 42x-14 is planned The main differences between the MC 422C and the MC 422B are: Instead of a two-row connector (X47), the connection of the PL 51x features a three-row connector (X147). HEIDENHAIN supplies an adapter cable for X147 (Id. Nr. 587 789-A5) with every MC 422C. This makes it possible to connect the PL 51x with the previous connection cable (371 045-xx). However, HEIDENHAIN does not recommend connecting the PL 51x with the 371 045-xx connection cable for a longer period of time. Instead you should use the 371 046-xx connection cable for the connection to X147. Connector X9 for additional analog outputs is missing. Only connector X8 with six analog outputs is present. If this presents you with difficulties, please contact HEIDENHAIN. A second USB connection (X142) is located on the bottom of the housing of the MC 422C.
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HEIDENHAIN Technical Manual iTNC 530
1.2.1 Important Notes about the MC 422C Warning Regarding the MC 422C hardware, please note: The new MC 422C hardware only runs as of software 340 490/491-02 service pack 5 or software 340 422/423-14 or higher. If you accidentally install a lower software version in connection with the MC 422C, then a corresponding error message appears when the control is booted. The boot procedure is aborted. If you have difficulties with this remodeling, your control doesn’t boot, or you want to exchange a defective MC 422B for an MC 422C, please contact the HEIDENHAIN service department. Proceed as follows when replacing an MC 422B with an MC 422C: 8
Use the MC 422B to install the 340 490/491-02 SP5 or 340 422/423-14 software on the hard disk.
8
Completely switch off your machine after you have finished the installation. Warning Do not engage or disengage any connecting elements while the unit is under power!
April 2006
8
Remove the MC 422B hardware. Remove the HDR on which the new software was installed. Please refer to the notes in the Technical Manual.
8
Install the HDR in the new MC 422C hardware.
8
Install the MC 422C and reconnect all connecting elements. Please refer to the connection overview of the MC 422C.
Hardware
1–3
1.2.2 Comparison of the Connections: MC422C and MC422B
MC 422C
MC 422 B
Connector
Function
X1-X5
Actual position value
X6, X35-X38
X149
X127
X128
X14
X147
1–4
X8
Nominal value output 1
X9
Nominal value output 2 (only MC 422B)
X12
Touch trigger probe 1
X13
Touch trigger probe 2
X14
Measuring touch probe
X23
Handwheel
X26
Ethernet
X27
COM 1
X28
COM 2
X30
Spindle ref.
X34
24 V (UE)
X41
PLC output
X42
PLC input
X43
CRT display unit VGA/XGA
X44
24 V (PLC)
X45
Keyboard unit
X46
Machine operating panel
X47, X147
PL 51x
X48
Analog input
X49
TFT display unit VGA (640x480)
X121
Profibus
X125
Reserved
X131
Reserved
X141
USB
X142
USB
X149
TFT display unit XGA (1024x768)
X165
Reserved
HEIDENHAIN Technical Manual iTNC 530
1.2.3 Connection Overview of MC 422C / 5 Position Encoder Inputs and CC 422 with 6 Control Loops
X149
X1 to X5 X35 to X38
Encoder for position Vacant
X15 to X20
Encoder for speed
X51 to X60
PWM output
X8 X12 X13
Nominal value output, analog TS touch trigger probe TT 130 touch trigger probe
X23 X26 X27 X28
Handwheel Ethernet data interface RS-232-C/V.24 data interface RS-422/V.11 data interface
X141, X142
USB interface
X30 X34 X41 X42 X44
24 V reference signal for spindle 24 V for “control-is-ready” output PLC output PLC input 24 V PLC supply voltage
X45 X46 X147 X48 X149 X131
Keyboard unit Machine operating panel PLC expansion PLC analog input BF 150 monitor Reserved
X69
Power supply
X121 X165, X166
Reserved Reserved
X74 X150
5-V power supply Axis-specific drive release
B
Signal ground
X14
X147
X150, X142 at bottom of housing
Equipment ground (YL/GN) Warning Do not engage or disengage any connecting elements while the unit is under power!
April 2006
Hardware
1–5
1.2.4 Dimensions of MC 422C / 5 Position Encoder Inputs and CC 422 with 6 Control Loops Note All dimensions are in millimeters [mm].
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HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 16 1.1 Overview 1.1.1 Released Service Packs The following service packs were released for 340 422-12 and 340 423-12: Service pack 4:
December 2005
The following service packs were released for 340 480-12 and 340 481-12: Service pack 4:
December 2005
The following service packs were released for 340 490-02 and 340 491-02: Service pack 1:
October 2005
Service pack 2:
November 2005
Service pack 3:
December 2005
Service pack 4:
February 2006
Service pack 5:
April 2006
Service pack 6:
May 2006
Service pack 7:
July 2006 (SP 7 available as full version)
The following service packs were released for 340 492-02 and 340 493-02: Service pack 1:
October 2005
Service pack 2:
November 2005
Service pack 3:
December 2005
Service pack 4:
February 2006
Service pack 5:
April 2006
Service pack 6:
May 2006
Service pack 7:
July 2006 (SP 7 available as full version)
1.1.2 Released NC Software The following versions of the NC software were released:
September 2006
NC software 340 490-03 and 340 491-03
June 2006
NC software 340 492-03 and 340 493-03
June 2006
NC software 340 422-13 and 340 423-13
March 2006
NC software 340 480-13 and 340 481-13
March 2006
NC software 340 422-14 and 340 423-14
May 2006
NC software 340 480-14 and 340 481-14
May 2006
Overview
1–1
1.2 NC Software 340 422-13/340 423-13 and 340 480-13/340 481-13 1.2.1 Description of the New Functions Machine parameters
Formula input for MPs expanded The following functions are possible for entering formulas (e.g., for Machine Parameter 1054): • Exponential calculation with the ‘^’ character Example: MP1054.1:REF*0.1e^6+15 (REF in 0.0001 [mm]) • Entry of ‘x’ instead of ‘REF’ (shorter) New: MP7691.3 – Kernel-Trace Size of the log file with messages from the NC kernel. 10 files are created that are 10·[MP7691.3] kilobytes large. TNC:\KLOG\ 0.log – 9.log Input: Each file with 1 to 10 [KB] 0: Inactive (default) Changed: MP7420 bit 4 – Cycles for milling pockets with combined contours Position after completion of the cycle. Input: 0: Tool moves to the same position as before the cycle was called 1: iTNC moves in the tool axis to the “clearance height” Changed: MP2630.x The input range was extended. Input: –100.000 to +100.000 [A]
PLC programming
New: Marker 4186 The PLC marker 4186 is set at the start of an NC program in the Test Run mode of operation. New: Marker 4187 The PLC marker 4187 is set when the Power interrupted message is displayed. It is deleted after the compilation of the PLC program.
iTNC – Operation and technique
SHUTDOWN soft key During control start-up, the SHUTDOWN soft key is now already available in the Power interrupted state. Test current for switch-off test Before the switch-off test, the current is measured in order to determine the test current. This function can be deactivated with MP560 bit 5 = 1. Profibus diagnosis The current Profibus cycle time is displayed on the basic screen in PLC mode, provided that a Profibus is connected. HR 420 pop-up window The size of the pop-up window that appears when the HR 420 handwheel is activated was reduced so that it takes up only a small portion of the control screen.
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HEIDENHAIN Technisches Handbuch iTNC 530
Other functions
Executing cycles with two spindles Up to now, it was not possible to program certain cycles with an open-loop first spindle and a closed-looped second spindle (Cycles 13, 17, 18, 202, 204, 207, 209). These cycles can now be programmed if one of the two spindles is a closed-loop spindle. Languages The Czech texts are now displayed with language-specific special characters. Character set for Unicode The character set for Unicode was expanded. The help texts were expanded and improved. Entries into the log were expanded and improved.
September 2006 NC Software 340 422-13/340 423-13 and 340 480-13/340 481-13
1–3
1.3 NC Software 340 422-14/340 423-14 and 340 480-14/340 481-14 1.3.1 Description of the New Functions Machine parameters
New: MP7392 – Time after which the screen saver becomes active Input: 1 to 99 [min] 0: No screen saver
iTNC – Operation and technique
Support of the new MC 422 C hardware
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HEIDENHAIN Technisches Handbuch iTNC 530
1.4 NC Software 340 490-01/340 491-01 and 340 492-01/340 493-01 1.4.1 Important Notes With the introduction of the diagnosable UM 1xxD power modules, the rated current and maximum current of some power modules were increased. The MOTOR.AMP table for power modules was therefore expanded by the new types of power modules. The increased currents were unfortunately not considered. This means that the current NC software versions contain a MOTOR.AMP to which the new types, but not the correct currents, were added. This applies to the power modules listed below: UM 112D (ID 519 971-xx) UM 122D (ID 519 972-xx) UM 113D (ID 518 703-xx) UM 114D (ID 510 509-xx) If such a power module is operated with the “old” MOTOR.AMP, this may result in reduced surface quality of the workpiece. Starting with service pack 1, the NC software already includes the updated MOTOR.AMP. This software, as well as the updated MOTOR.AMP, can be downloaded from the HEIDENHAIN Filebase (NC-INFO). After updating, check the settings of the affected control loops. Please also check any user-defined MOTOR.AMP on the PLC partition, which is preferably used by the control, but cannot be updated during installation of a service pack. Warning This NC software is executable only on the MC 422B and the MC 420, each with 128 MB of RAM. The BF 120 (resolution: 640 x 480 pixels) is no longer supported. 1.4.2 Service Packs The following service packs have been released: Service pack
NC software
Release
340 490-01 SP1
340 490-01
March 2005
340 491-01 SP1
340 491-01
March 2005
340 492-01 SP1
340 492-01
March 2005
340 493-01 SP1
340 493-01
March 2005
Service pack
NC software
Release
340 490-01 SP2
340 490-01
June 2005
340 491-01 SP2
340 491-01
June 2005
340 492-01 SP2
340 492-01
June 2005
340 493-01 SP2
340 493-01
June 2005
September 2006 NC Software 340 490-01/340 491-01 and 340 492-01/340 493-01
1–5
1.5 NC Software 340 490-02/340 491-02 and 340 492-02/340 493-02 1.5.1 Important Notes Upgrade functions (Feature Content Level)
Until now, each new NC software version contained error fixes as well as expanded functions. Users who wanted only the NC software update to eliminate the errors often felt bothered by the expanded functions. For this reason, error fixes and expanded functions will now be handled separately within the software. If a new NC software is later loaded as an update onto a machine with NC software 340 490-01, then as the default setting only the error fixes contained will be effective. The upgrade functions will at first remain inactive. The upgrade functions can then be enabled by entering a code number. HEIDENHAIN can give you the code number after having been informed of the SIK number and NC software version. The upgrade functions are defined as “feature content level” (FCL) in the SIK under option #53. The first time an NC software with upgrade functionality is installed on a control (i.e. no FCL has been set in the SIK), then the entire scope of functions can be used (including the upgrade functions.). The FCL is then automatically set after 100 restarts, or by entry of the code number 0 under option #53, and all upgrade functions belonging to this software version are enabled as well. A note appears asking to confirm the installed NC software as the initial version, or if another initial software version is to be installed. If the FCL has already been set in the SIK of a control, then after an update (e.g. from software 340 490-02 to -03), the new upgrade functions of the newer software version can only be used after entry of a code number from HEIDENHAIN. After pressing the MOD key, the current status of the FCL is displayed in addition to the software versions. The FCL is incremented with each new version of the NC software. If the upgrade functions are enabled via the FCL for a software version, then all upgrade functions of this software version and all its predecessors are available. For example, if the FCL for version 340 490-03 is set, then all upgrade functions from version 340 490-02 are also available immediately.
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HEIDENHAIN Technisches Handbuch iTNC 530
If a newer software version, e.g. 340 490-06, is simply loaded onto a control, then the already existing upgrade functions remain available, but the upgrade functions of the newer version cannot be used. They must be enabled by entering a new code number.
Executability of SW 340 49x-02 Warning This NC software is executable only on the MC 422 B and the MC 420, each with 128 MB of RAM. The BF 120 (resolution: 640 x 480 pixels) is no longer supported.
September 2006 NC Software 340 490-02/340 491-02 and 340 492-02/340 493-02
1–7
1.6 NC Software 340 490-03/340 491-03 and 340 492-03/340 493-03 1.6.1 Important Notes Memory expansion for Feature Content Level 03 The increase of the Feature Content Level to 03 leads to problems with some of the new features if the MC does not have enough main memory. If the MC being used has no more than 128 MB of main memory, then it is not possible to activate the context-sensitive help system or the Asian languages. The first time that you activate Feature Content Level 03, a dialog window appears after the control has been booted stating that the main memory of the MC does not suffice for the context-sensitive help or the Asian languages. You can acknowledge this message with the OK soft key. If you try to call these functions in the future, the Not enough main memory error message appears. Acknowledge this error message by pressing the CE key. In order to use all features without any limitations, you must increase the main memory of your control to at least 256 MB. Please contact the HEIDENHAIN service department for this. You do not need to increase the main memory if you do not want to use the help system or the Asian languages. This does not impair any of the other features. Since February 2006, all MC 420 (index A), MC 422B (index A) and MC 422C main computers are shipped with a main memory of 256 MB. The RAM of the MC can be checked in the herosdiagnose.txt file. The RAM of the MC is listed in [kB] under the Total Memory heading. Proceed as follows to create the herosdiagnose.txt file: 8
While in the Programming and Editing operating mode, press the MOD key.
8
Press the DIAGNOSIS soft key, and then the HEROS DIAGNOSIS soft key.
Going back to 340 49x-02 Software 340 49x-02 service pack 07 is available as a full version in order to go back to software 340 49x-02 from software 340 49x-03 on an MC 422C. This way you do not have to first install the 340 49x-02 basic version and then install the appropriate service pack. This would lead to a control using an MC 422C no longer being operable, since the basic version of software 340 49x-02 does not support the MC 422C. Note When going back to 340 49x-02 from 340 49x-03, install the 340 49x-02 SP7 software immediately in order to avoid problems!
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HEIDENHAIN Technisches Handbuch iTNC 530
1.6.2 Service Packs The following service packs have been released: Service pack
NC software
Release
340 490-02 SP1
340 490-02
October 2005
340 491-02 SP1
340 491-02
October 2005
340 492-02 SP1
340 492-02
October 2005
340 493-02 SP1
340 493-02
October 2005
Service pack
NC software
Release
340 490-02 SP2
340 490-02
November 2005
340 491-02 SP2
340 491-02
November 2005
340 492-02 SP2
340 492-02
November 2005
340 493-02 SP2
340 493-02
November 2005
Service pack
NC software
Release
340 490-02 SP3
340 490-02
December 2005
340 491-02 SP3
340 491-02
December 2005
340 492-02 SP3
340 492-02
December 2005
340 493-02 SP3
340 493-02
December 2005
Service pack
NC software
Release
340 490-02 SP4
340 490-02
February 2006
340 491-02 SP4
340 491-02
February 2006
340 492-02 SP4
340 492-02
February 2006
340 493-02 SP4
340 493-02
February 2006
Service pack
NC software
Release
340 490-02 SP5
340 490-02
April 2006
340 491-02 SP5
340 491-02
April 2006
340 492-02 SP5
340 492-02
April 2006
340 493-02 SP5
340 493-02
April 2006
Service pack
NC software
Release
340 490-02 SP6
340 490-02
May 2006
340 491-02 SP6
340 491-02
May 2006
340 492-02 SP6
340 492-02
May 2006
340 493-02 SP6
340 493-02
May 2006
Service pack
NC software
Release
340 490-02 SP7
340 490-02
July 2006
340 491-02 SP7
340 491-02
July 2006
340 492-02 SP7
340 492-02
July 2006
340 493-02 SP7
340 493-02
July 2006
September 2006 NC Software 340 490-03/340 491-03 and 340 492-03/340 493-03
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1.6.3 Description of the New Functions New options and upgrade functions
1 – 10
The following options are enabled by entering a code number. HEIDENHAIN can give you the code number after having been informed of the SIK number. Option
Description
ID
#41
Additional Languages The following languages are now available as additional dialog languages: Slovak
530 184-02
Latvian
530 184-03
Norwegian
530 184-04
Korean
530 184-06
Estonian
530 184-07
#44
Global PGM Settings: Possibility of superimposing various coordinate transformations and settings in the program-run modes of operation.
576 057-01
#45
AFC Adaptive Feed Control: With adaptive feed control the TNC automatically regulates the contouring feed rate after a teach-in cut depending on the respective spindle power in percent.
579 648-01
HEIDENHAIN Technisches Handbuch iTNC 530
Option
Description
ID
#53
Upgrade functions as Feature Content Level 03 (FCL), see page 1 – 6
529 969-01
TNCguide, context-sensitive help system (user documentation) smarT.NC functions: Feed-rate reduction during machining of contour pockets When clearing out a contour pocket, traverse paths where the tool is in full engagement result, such as in narrow channels or when shifting to the next clearance path. Now you can define a percent value by which the TNC reduces the feed rate in such situations. New UNITs for presetting The new UNITs 408 and 409 are available for presetting in the center of a slot or a ridge. Contour pocket on point pattern The new UNIT 130 was introduced with which any contour pocket can be machined on any point pattern. Parallel programming In the Programming and Editing mode of operation you can now also use the smarT.NC user interface. If an .HU program is selected, the TNC automatically starts smarT.NC. If you want to open an .HU program with the plain language dialog editor, use the OPEN WITH function in order to select which editor the TNC should start. Behavior between two machining points An approach height can now be defined for each machining point in a point pattern. The TNC then approaches this position at the height you defined. Use: Moving over chips or other hindrances Plain-language programming functions: Feed-rate reduction during machining of contour pockets When clearing out a contour pocket, traverse paths where the tool is in full engagement result, such as in narrow channels or when shifting to the next clearance path. Now you can use parameter Q401 to define a percent value by which the TNC reduces the feed rate in such situations.
September 2006 NC Software 340 490-03/340 491-03 and 340 492-03/340 493-03
1 – 11
Option
Description
ID
#53
Upgrade functions as Feature Content Level 03 (FCL), see page 1 – 6
529 969-01
Touch probe functions: New probe cycles for presetting The new touch-probe cycles 408 and 409 are available for presetting in the center of a slot or a ridge. New 3-D probing cycle The new touch-probe Cycle 4 is available, with which you can perform a measurement in three dimensions. You define the direction of traverse via three incremental traverse paths in X, Y and Z. You can receive the results of the measurement in either the workpiece or the machine coordinate system.
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HEIDENHAIN Technisches Handbuch iTNC 530
Machine parameters
New: MP732 – Axis-error compensation for rotary axes With MP732, the non-linear axis-error compensation (activated via MP730) can be projected onto the traverse range for a specific axis. This is especially useful when using rotary axes with a limited traverse range. Instead of the previous range of 0° to 360°, you can now make entries of –90° to +90°, for example. Input: %987654321 bit-encoded 0: Previous behavior 1: Active New: MP1012.x – Second axis-specific rapid traverse With MP1012.x you can enter a second axis-specific rapid traverse as an alternative to MP1010.x. Use the FN17: SYSWRITE ID 20 NR 18 = function to switch between the two machine parameters. MP1012 can only be used in the Program Run, Single Block, Program Run, Full Sequence and MDI operating modes. = 0: MP1010 and MP1011 active = 1: MP1012 active, MP1011 not active, meaning that the possible increase in the contouring feed rate is not limited. The rapid traverse from MP1010 in connection with MP1011 is always active at program end and when a program is first selected. Input: 10 to 300 000 [mm/min or °/min] New: MP1085.x – Axis-specific jerk for contouring movements With MP1085.x you set an axis-specific maximum permissible jerk for motions in the Program Run, Single Block, Program Run, Full Sequence and MDI operating modes, as long as the feed rate is not equal to FMAX or is less than the value in MP1092. Until now, this value was set for all axes in MP1090.0. The value in MP1090.0 will continue to be used as the maximum permissible jerk for motions in all axes. Even with interpolating axes this value is the maximum jerk for the entire machine. The formula shown can be used to calculate a guide value for MP1085. The formula is conceived for the calculated jerk to be large enough that the acceleration of the axis is not impaired. Input:0.1 to 1000 [m/s3] 2
MP1060 × 60000 MP1085 ≥ -----------------------------------------------MP1010
September 2006 NC Software 340 490-03/340 491-03 and 340 492-03/340 493-03
1 – 13
New: MP1086.x – Axis-specific jerk for rapid-traverse movements With MP1086.x you set an axis-specific maximum permissible jerk for motions in the Program Run, Single Block, Program Run, Full Sequence and MDI operating modes, if the feed rate is equal to FMAX or is greater than the value in MP1092. Until now, this value was set for all axes in MP1090.1. The value in MP1090.1 will continue to be used as the maximum permissible jerk for rapid-traverse movements in all axes. Even with interpolating axes this value is the maximum jerk for the entire machine. The formula shown can be used to calculate a guide value for MP1086. The formula is conceived for the calculated jerk to be large enough that the acceleration of the axis is not impaired. Input: 0.1 to 1000 [m/s3] 0: Not active (then also for FMAX value in MP1085.x) 2
MP1060 × 60000 MP1086 ≥ -----------------------------------------------MP1010 Note HEIDENHAIN recommends entering the permissible jerk for each axis in MP1085.x and MP 1086.x. This way the jerk is based on the weakest axis participating in a motion. The value in MP1090.x should be chosen correspondingly greater than until now (340 49x-02) or greater than the largest axis-specific jerk (or the value 0 should be entered to omit limiting by MP1090.x) so that the control has the possibility of using the optimum jerk and therefore the optimum acceleration for interpolating axes. If you enter a jerk for one or more axes (e.g. rotary axes) that is lower than the value previously (before 340 49x-03) entered in MP1090.x, reduced speeds can occur during contouring movements. However, this behavior only occurs if you used MP1090.x to subject axes to a greater than ideal load for the axes. If you want to avoid this behavior, then you must enter the same values in MP1085.x or MP1086.x and MP1090.x, which results in the same behavior as previously (340 490-02). However, this leads to a loss of the speed advantage gained with the interpolation of axes with NC software 340 49x-03. The calculated path jerk is always ≥ to the smallest axis-specific jerk of the participating axes. New: MP1205 – Reduction of the starting feed rate MP1205 was introduced in order to lower the contouring feed rate at the beginning of a contour element. This slower contouring feed rate can be used to improve the accuracy when machining corners at contour transitions. MP1205 is only in effect if MP7684 bit 10 = 0, which activates the changed calculation of the feed rate for the beginning of a contour element. Input: 0: Not active (fast but somewhat less precise) 1: Active (slow but likely more precise) New CC 424: MP2184.x – Reserved Input: 0 New CC 424: MP2186.x – Speed-dependent switching of the PWM frequency MP2186.x specifies the shaft speed at which the PWM frequency ≤ 5 kHz is switched to twice the PWM frequency (see page 1 – 64). Input: 0 to 100 000 [rpm]
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HEIDENHAIN Technisches Handbuch iTNC 530
New CC 424: MP2188.x – Speed-dependent switching of the PWM frequency MP2188.x specifies the shaft speed at which the original PWM frequency (≤ 5 kHz) is returned to (from twice the PWM frequency > 5 kHz as the result of MP2186.x). MP2188.x must be < MP2186.x (see page 1 – 64). Input: 0 to 100 000 [rpm] New CC 424: MP2192 – Trigger threshold for LIFTOFF With MP2192 you enter a percent value of the dc-link voltage Uz as trigger threshold for the detection of a powerfail. If the dc-link voltage Uz drops below the value resulting from MP2192, an NC stop and LIFTOFF are performed. If you enter the value 0 for MP2192, only the UV ready signal is monitored. If you enter a value in MP2192 greater than the typical value of 400 V for a powerfail, LIFTOFF is performed correspondingly earlier and with more energy in the dc-link. MP2192 must be > MP2194. The entered value must be > 400 V for this function to be useful. HEIDENHAIN recommends a value of 80%. Input: 0 to 100 [%] Warning This function can only be used in combination with regenerative HEIDENHAIN inverters. Refer to the notes about the LIFTOFF function in the Technical Manual. New CC 424: MP2194 – DC-link voltage as of which the spindle is braked in a powerfail With MP2194 you enter a voltage value in [V] of the dc-link voltage. If the dclink voltage Uz drops below the value in MP2194, the spindle is actively braked. Normally energy is recovered during braking of the axes with LIFTOFF. This does not apply to linear motors with poor efficiency. Here energy is needed in order to brake an axis. This means that a load is placed on the dc-link during the braking procedure. In certain circumstances this can mean that there is no longer enough energy to perform LIFTOFF. The only energy source in the system may be a rotating spindle. If the dc-link voltage drops below the value in MP2194, the spindle is braked and energy is recovered. This should make enough energy available in order to perform LIFTOFF completely. The entered value must be > 400 V for this function to be useful. HEIDENHAIN recommends a value of 450 V. Input: 0 to 3000 [V] Warning This function can only be used in combination with regenerative HEIDENHAIN inverters. New: MP2208.x – Inductivity of the series reactor With MP2208.x you can overwrite the value for “Inductivity of the series reactor L” in the motor table. Input: * = Entry from the motor table active Value of the series reactor in [µH]
September 2006 NC Software 340 490-03/340 491-03 and 340 492-03/340 493-03
1 – 15
New: MP2209.x – Mass moment of inertia of a drive motor With MP2209.x you can overwrite the value for “Mass moment of inertia J” in the motor table. This makes it possible to react to additional, rigidly coupled inertias. Input: * = Entry from the motor table active Value of the mass moment of inertia in [kgm2] New CC 424: MP2640.x – Torsion compensation With MP2640.x you can perform a torsion compensation between the position and speed measuring systems. The torsion compensation regulates the difference in position that results from the elasticities between the motor (rotary encoder) and the position measuring system. An additional torsion motion is added to the speed controller. In MP2640.x you enter a factor for each drive for the elasticity. HEIDENHAIN recommends using MP2640 as a replacement for MP2606, since MP2640 can be used to take additional effects into account. Input: 0.001 to 30.000 [µm/A] 0: Not active The block diagram shows how the torsion compensation works:
• • • • • • • •
1 – 16
1: Torsion compensation 2: Position controller 3: Speed controller 4: Current controller – power module 5: Motor 6: Elastic coupling 7: Machine 8: Linear encoder
HEIDENHAIN Technisches Handbuch iTNC 530
New: MP3350 and MP3351 – Monitoring of the spindle speed With MP3350 and MP3351 you set the maximum permitted excess spindle speed. An NC stop with a subsequent emergency stop is trigged if the actual spindle speed is greater than the nominal spindle speed + the permitted excess speed. With this function you can also have the spindle be monitored for unexpected start-up. In MP3350 you enter a relative value in percent, and in MP3351 as absolute value, for the permissible excess speed. The absolute value in MP3351 is only used if the absolute value that results from MP3350 is less than the value in MP3351. If you want to use monitoring of the spindle speed for spindles with gear stages, then you should be more generous with the tolerance that results from MP3350 and MP3351, since the spindle speed can vary significantly when switching between the gear stages. Input MP3350: 0 to 100 [%] Input MP3351: 0.001 to 100 000.000 [rpm] 0: Monitoring off
New: MP3530 and MP13530 – Increased spindle power for roughing With MP3530 and MP13530 you can avoid a reduction in the maximum spindle power during roughing due to changes in load when the tool’s teeth are engaged in the material. Here the spindle speed is increased higher than previously when there is no load. It is now increased above the nominal speed, which was not the case previously. Energy is stored in the inertia of the spindle, and is then available when the teeth engage the material. This increases the mean power, and the mean speed corresponds to the nominal speed. If MP3530 or MP13530 are set, an overshoot can occur when the nominal speed is reached. If this overshoot impairs the performance, then you may have to deactivate the increase of the spindle power. Input: 0: Not active 1: Increased spindle power for roughing
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Expanded: MP4310.x – Miscellaneous PLC parameters The input range was expanded with the MP4310.7, MP4310.8 and MP4310.9 indexes. These are saved to the corresponding PLC memories. MP4310.7 to M4412-M4427 or W990 MP4310.8 to M4428-M4443 or W992 MP4310.9 to M4444-M4459 or W994 Expanded: MP7230.x – Conversational language MP7230.18 = Norwegian (Option #41) MP7230.19 = Slovak (Option #41) MP7230.20 = Latvian (Option #41) MP7230.21 = Korean (Option #41) MP7230.22 = Estonian (Option #41) New: MP7246 bit 3 – Settings file for AFC (Adaptive Feed Control) By setting MP7246 bit 3, the *.H.AFC.DEP table for control settings is generated for the adaptive feed control in a teach-in cut. Input: 0: Do not generate settings file for AFC 1: Generate settings file for AFC New: MP7263 bit 2 – Display the “Edit ON/OFF” soft key in the pocket table MP7263 bit 2 can be used to hide the “Edit ON/OFF” soft key when displaying the pocket table. This makes it possible to prevent manual editing of the pocket table. Input: 0: Display soft key 1: Do not display soft key New: MP7362.4 – Background: Unselected tab You can use MP7362.4 to select the color of the unselected tabs in the graphics window. Default setting: $0C0C0C0 New: MP7392.1 – Type of screen saver With MP7392.1 you select the type of screen saver that starts after the time in MP7392.0 expires. Input: 0: No screen saver 1: Default screen saver of the X server 2: 3-D line graphics New: MP7432 – Limit-switch tolerance for M140/M150 With MP7432 you can enter a tolerance for the limit switches. The limit switches can then be traversed with M140/M150 by this tolerance without an error message. Retraction with M140/M150 can still be performed if a limit value has been entered and the axes are still within the tolerance. If the axes are still within the tolerance, they can even be moved outside of the traverse range, but only to another limit switch. If one or more axes that are already slightly outside the limit-switch range are to be moved to the same limit switch, the axes are not moved. No limitswitch error message appears if the axes are still within the tolerance of the limit switch. Input: 0.0001 to 1.0000 [mm] 0: Limit-switch tolerance off New: MP7483 – Tool name/number for TOOL CALL With MP7483 you specify if the tool name or number or both can be used for TOOL CALL/TOOL DEF. For example, if a tool number is used even though only tool names are allowed (MP7483 = 1), an NC error message is output. Input: 0: Names and numbers are permitted (as before) 1: Only names are permitted 2: Only numbers are permitted 1 – 18
HEIDENHAIN Technisches Handbuch iTNC 530
New: MP7506 – Selection of kinematics at booting With MP7506 you can make an advance selection of which entry in the kinematics table is to become active when the control is booted. Selection is made by entering the line number of the desired kinematics in KINELIST.TAB. Input: 0 to 999 –1: Function not active Note Please note that with this feature, the same kinematics are always active whenever the control is booted. If you change the actual kinematics of the machine before booting, this is not taken into account. The kinematics set via MP7506 are still active after booting even after such a change. New: MP7630 – Recovery time after EMERGENCY STOP test is configurable If you use protective contactor combinations, this may lead to problems if the EMERGENCY STOP test is also performed with these combinations. The reason for this is the recovery time of such assemblies after an emergency stop. In some cases it is greater than 200 ms. In order to maintain these specifications, the “Control is ready” output (X41/34) remains off for the time in MP7630 after detecting the 0 level at the “control-is-ready signal acknowledgment” input (X42/4). This time for step 4 (see flowchart) can now be configured in MP7630. This time is to be set so that the protective contactor combinations can become ready again. Input: 0: Previous behavior 1 to 999 [ms]
X41/34
X42/4 1
2
3
4
5
6
7
8
9
New: MP7672.x – HR 410, distance per handwheel step If MP7641 bit 1 is set, then with MP7672.x you can set the distance per handwheel step for the HR 410. Different distances per step can be set for three speed stages. Input: 0.0000 to 1.0000 [mm] New: MP7674.x – Handwheel subdivision factor MP7674.x can always be used to set a minimum axis-specific subdivision factor for the HR 130, HR 330, and HR 332. It can be used for the HR 410 if MP7641 bit 1 is not set (without detent encoder). Input: 0: No limitation 1 to 10
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New: MP7675.x – Handwheel maximum distance MP7675.x has no meaning for the HR 130, HR 330, or HR 332. If MP7641 bit 1 is set (with detent encoder) for the HR 410 or HR 420 , then a maximum distance in [mm] per detent can be entered for each axis. If MP7641 bit 1 is not set (without detent encoder) for the HR 420 , then a maximum distance in [mm] per handwheel revolution can be entered for each axis. These limitations serve to prevent the movement monitoring from becoming active because of abrupt motions resulting from handwheels with large gear ratios on axes with poor dynamics. Input: 0: No limitation 0.0001 to 10.0000 [mm] New: MP7682 bit 8 – Behavior of M8 You can control the behavior of M8 at the end of cycles 202 and 204 with MP7682 bit 8. Input: 0: At the end of cycles 202 and 204, the status of M8 is restored to that before the cycle call (behavior unit now). 1: At the end of cycles 202 and 204, the status of M8 is not restored automatically. New: MP7682 bit 9 – Load tilted working plane With MP7682 bit 9 you control whether the status of the Tilt working plane function in an NC program is loaded into the Manual operating mode during a program interruption. Input: 0: The status of the Tilt working plane function is not loaded into the Manual operating mode during a program interruption (behavior until now). 1: The status of the Tilt working plane function is loaded into the Manual operating mode during a program interruption. New: MP7684 bit 10 – Modification of the calculation of the contouring feed rate MP7684 bit 10 introduced a modified calculation of the contouring feed rate at the beginning of a contour element. The modified calculation improves the surface quality at contour transitions, which can lessen the accuracy at corners. This can be deactivated by setting MP7684 bit 10. Input: 0: Active 1: Previous behavior New: MP13350 and MP13351 – Monitoring of the spindle speed With MP13350 and MP13351 you set the maximum permitted excessive spindle speed. (see MP3350 and MP3351) Input MP13350: 0 to 100 [%] Input MP13351: 0.001 to 100 000.000 [rpm] 0: Monitoring off Changed: MP1090.x – Limiting the path jerk Limits the path jerk that results from MP1085.x or MP1086.x. MP1090.0 takes effect for movements not at FMAX or when the feed rate is less than the value in MP1092. MP1090.1 takes effect for movements at FMAX or when the feed rate is greater than the value in MP1092. This limitation can be switched off by entering the value 0 in MP1090.x. Input: 0.1 to 1000 [m/s3] 0: Not active Changed: MP1820 and MP1830 – Multiplication factor and characteristic curve kink point The characteristic curve kink point for operation with servo lag, defined via MP1820 and MP1830, can now also be used with the CC 424.
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HEIDENHAIN Technisches Handbuch iTNC 530
Changed: MP1092 – Feed-rate threshold for MP1085.x and MP1086.x With MP1092 you specify a feed-rate threshold for the various jerk parameters in MP1085.x and MP1086.x. If the programmed feed rate is less than the value in MP1092, the parameters in MP1085.x apply. If the programmed feed rate is greater than the value in MP1092, the parameters in MP1086.x apply. This way you have the same behavior as previously for all axes via MP1090.0 and MP1090.1. Enter the value 0 in MP1092 to deactivate this feed-rate limit. Then the jerk parameters from MP1085.x apply to movements not at rapid traverse. The values in MP1086.x become active for movements at FMAX. Input: 1 to 300 000 [mm/min] (behavior until now) 0: Not active Changed: MP2050 – Functionality of drive enabling MP2050 can now also be overwritten by the PLC or the LSV2 protocol. Changed: MP2100 – Type of axis power modules A change to MP2100 no longer leads to an automatic restart. Changed: MP2150 – Powerfail MP2150 can now also be overwritten by the PLC or the LSV2 protocol. Changed: MP2182.x – Current controller cycle time Set MP2182.x = 2 if you want to use automatic PWM frequency switching. The PWM frequency of a power stage is then doubled at a certain speed, based on a PWM frequency ≤ 5 kHz. In MP2186.x and MP2188.x you define the speeds at which switching occurs. The current controller cycle time is always (if MP2182.x = 2) based on the high PWM frequency. Changed: MP2195 – Suppress error message of the HEIDENHAIN supply units MP2155 can now also be overwritten by the PLC or the LSV2 protocol. Changed: MP2420.x – Proportional factor for the current controller Automatic calculation of the P factor for synchronous and asynchronous motors is now possible. Automatic calculation is not to be used for linear synchronous and torque motors. The calculated value is entered in the MP file. An * is appended to the calculated value to show that the parameter was determined automatically. Input: 0 to 9999.99 [V/A] * = automatic calculation of the P factor Changed: MP2430.x – Integral factor for the current controller Automatic calculation of the I factor for synchronous and asynchronous motors is now possible. Automatic calculation is not to be used for linear synchronous and torque motors. The calculated value is entered in the MP file. An * is appended to the calculated value to show that the parameter was determined automatically. Input: 0 to 9999.99 [V/A] * = automatic calculation of the I factor Changed: MP2630.x – Holding current for vertical axes The input range was extended. Input: –100.000 to +100.000 [A] Changed: MP3142 and MP13142 – Line count of the rotary encoder on the spindle The input range was extended. Input: 100 to 100 000 [lines] Changed: MP7260 to MP7267 MP7260 to MP7267 can now also be overwritten by the PLC or the LSV2 protocol.
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Changed: MP7261.x – Size of the pocket tables The input range was extended. Input: 0 to 9999 Changed: MP7246 bit 0 – MP with multiple function Disabling of the generation of paraxial positioning blocks via MP7246 bit 0 is available again. Input: 0: Generation permitted 1: Generation not permitted Changed: MP7266.x – Tool table: Tool data The input range was extended by the index MP7266.40. MP7266.40 for AFC: Control strategy name for “Adaptive Feed Control” Removed: MP7235 – Time difference to the Universal Time set in the BIOS This is now realized with the Set System Time dialog box. Open this dialog box by pressing the MOD key in the Programming and Editing operating mode, and then the SET DATE/TIME soft key.
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HEIDENHAIN Technisches Handbuch iTNC 530
PLC programming Warning HEIDENHAIN would like to point out the following information for the processing of signals in the PLC: For all PLC markers, the status 0 (not set) must be used as the safe status. Only this way can the safety of a machine be ensured if the power fails. The following must be kept in mind for remanent markers: Remanent markers, bytes, words and double words can also be deleted (e.g. if the buffer battery is empty). In order to detect this state, we recommend setting a flag marker in the remanent memory. Set this marker once, at a time when it is ensured that all signals in the PLC are valid. This marker should be used as a reference in the PLC program. As long as this marker is set, the remanent markers have not been deleted (e.g. by an empty buffer battery or an error in the PLC). If this flag marker is deleted, all remanent markers are invalid. An appropriate safety reaction with an error message must occur if this happens. In order to attain an optimum level of safety for your machine and the operator, HEIDENHAIN recommends the combined use of these safety measures. In connection with this, a possibility for outputting the cause of the last PLC run-time error was introduced. PLC word W1002 can be used to determine the last PLC run-time error that led to the stop of PLC program execution. If a PLC run-time error occurs, the generated error code is saved in W1002 and simultaneously in the remanent memory of the control. When a new PLC runtime error occurs, W1002 and the value in the remanent memory are overwritten. If the control is restarted or a PLC program start is triggered in some other manner (by Compile, Restart PLC or acknowledgment of PLC run-time errors), the value in W1002 regenerates itself via the information in the remanent memory. Once the value has been entered in W1002 again, this information is deleted from the remanent memory. This way the last PLC run-time error is always available in W1002, even after the PLC is restarted. In addition, the error code can already be seen in the PLC table as early as in the Power interrupted status after the control has been restarted. The error code in W1022 can be output and evaluated in the PLC program. The following applies to the evaluation of the error code, which should be performed during the first PLC run-through: • W1002 = 0: No PLC run-time error occurred before the last PLC program start • W1002 = 1: Error information in W1002 is invalid (e.g. because of an error in the hardware). If necessary: Implement safety reaction. • W1002 ≥ 50: PLC run-time error with number code (see the PLCdesignNT help for the error name). If necessary: Implement safety reaction.
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Configuration data of the PLC You use the PLC configuration file to influence the memory allocation of the control and change the configuration data of the PLC. Enter certain keywords to perform changes. After compilation by the PLC, the NC detects the changed settings, and the control must be restarted. The values you enter may only be greater than the default values. Available keywords: Keyword
Description
DEFINE
Configuration definitions for controlling the conditional compilation, soft-key menu generation and cycle-project configuration. System parameters that may not be changed are identified by a preceding and following $ character. Depending on which options have been set, they are defined via the compiler and can be used for conditional compilation. For more information about this, please refer to the PLCdesignNT help.
REMBYTEMIN
Start address of the bytes, words or double words whose data remains stored after a power interruption (remanence). Default value: 0
REMBYTEMIN = 0
REMBYTEMAX
End address of the bytes, words or double words whose data remains stored after a power interruption (remanence). The range defined by REMBYTEMIN and REMBYTEMAX may not be larger than 1024 bytes. Default value: –1 = Deactivated
REMBYTEMAX = 200
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Example
HEIDENHAIN Technisches Handbuch iTNC 530
Keyword
Description
Example
REMMARKERMIN
Start address of the markers whose data remains stored after a power interruption (remanence). Default value: 0
REMMARKERMIN = 0
REMMARKERMAX
End address of the bytes, words or double words whose data remains stored after a power interruption (remanence). The range defined by REMMARKERMIN and REMMARKERMAX may not consist of more than 2048 markers. Default value: –1 = Deactivated
REMMARKERMAX = 150
MARKERS
A total of 100 000 bytes is available for all keywords, timers, counters and strings combined
Number of markers available. Default value: 10000
MARKERS = 15000
Size in bytes for the byte/word/double word memory. Default value: 10000
BYTES = 20000
INPUTS
Number of input markers available. Default value: 384
INPUTS = 450
OUTPUTS
Number of output markers available. Default value: 192
OUTPUTS = 250
INPUTBYTES
Size in bytes for the byte/word/double word memory range used by the Profibus inputs. Default value: 1000
OUTPUTBYTES
Size in bytes for the byte/word/double word memory range used by the Profibus outputs. Default value: 1000
BYTES
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Multiple I/O-Force Lists possible It is now possible to make multiple lists available for the I/O Force function in the PLC operating mode. If an I/O Force List is open, press the PGM MGT key to switch to an existing list or create a new list. Create a new I/O Force List by entering a new file name with the extension .FLT. The selected list is identified by the automatically generated FORCELISTPATH = PLC:\*.FLT entry in OEM.SYS. M4623 – Disable DNC operation The start of DNC operation can be disabled with the PLC. Set the marker M4623 in order to disable the start of DNC operation via an LSV2 connection. This setting can be interrogated via an LSV2 telegram. W274 – Keys for spindle speed override If +/– and 100% keys are used for the spindle-speed override, then it can be seen in W274 if these keys are pressed. Value 256 for the “100%” key, value 257 for the “+” key and value 258 for the “–” key. FN18 – ID20 NR13 You can use the FN 18: SYSREAD Q = ID20 NR13 function to interrogate the number of the active spindle (0 or 1). FN18 – ID30 NR52 You can use the FN 18: SYSREAD Q = ID30 NR52 IDX function to ascertain whether a string or a numeric value was transferred in the Q-parameter number. If was used to transfer a tool number, the function returns 0, and if a tool name was transferred the function returns 1. FN18 function ID990 NR10 must be used to convert a tool name to the corresponding tool number for further processing. FN18 – ID990 NR10 You can use the FN 18: SYSREAD Q = ID990 NR10 IDX function to ascertain the tool number that belongs to the tool name contained in
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HEIDENHAIN Technisches Handbuch iTNC 530
Example of how the FN18 functions for tool name and number can be used. In this example the Q-parameter number Q330 could have been transferred as a string or a number from a cycle. The following example can be used for further processing: ... FN 9:
IF +Q330 EQU +0 GOTO LBL 131
FN 18:
SYSREAD Q35 = ID1000 NR7483
Interrogate MP7483 whether tool name and number are permitted
FN 18:
SYSREAD Q30 = ID30 NR52 IDX330
Interrogate if the tool name is programmed
FN 9:
IF +Q30 EQU +0 GOTO LBL 45
No tool name programmed
FN 10:
IF +Q35 NE +2 GOTO LBL 46
Tool name programmed
FN 14:
ERROR = 1094
Tool name is not permitted
FN 18:
SYSREAD Q330 = ID990 NR10 IDX330
Determine the tool number for the tool name
FN 10:
IF +Q330 NE -1 GOTO LBL 34
FN 14:
ERROR = 1092
LBL 46
No tool number could be found
LBL 45 FN 10:
IF +Q35 NE +1 GOTO LBL 34
FN 9:
IF +Q330 EQU +0 GOTO LBL 34
Tool number = 0 always permitted
FN 14:
ERROR = 1093
Tool number not permitted
LBL 34 FN 18:
SYSREAD Q0 = ID50 NR22 IDX330
...
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FN18 – ID56 NR4 You can use the FN 18: SYSREAD Q = ID56 NR4 function to ascertain the number of lines of a freely definable table opened with FN26: TABOPEN. The function returns the value –1.0 if no table is open at the time of reading. FN18 – ID240 NR8 You can use the FN 18: SYSREAD Q = ID240 NR8 IDX function to ascertain the current ACTUAL positions of the axes in the REF system. With IDX from 1..9 the coordinates of the axes X, Y, Z, A, B, C, U, V and W are read. FN18 – ID990 NR4 You can use the FN 18: SYSREAD Q = ID990 NR4 function to interrogate whether the touch probe is deflected. If it is deflected, the value 1.0 is returned. If not, the value 0.0 is returned. FN17 – ID53 NRxxx With FN 17: SYSWRITE ID 53 NRxxxx IDXxxxx = you can edit all the data of all indexes of an indexed tool. The function behaves like FN 17 – ID50, only that here the same value is written to all indexes. With NRxxxx you indicate a column of the active tool table and with IDXxxxx a tool number of the indexed tool for which is written to all indexes. The following NC block is used to completely disable all indexes of the current indexed tool: FN 17: SYSWRITE ID 53 NR7 = 1.0. FN17 – ID290 NR5 With FN 17: SYSWRITE ID 290 NR5 = you can transfer = 0 to deactivate the temperature compensation in the kinematics table. It can be activated again with = 1. Temperature compensation is always active if the program is interrupted. FN17 – ID622 NR0 With FN 17: SYSWRITE ID 622 NR0 IDX1.0 = you can transfer a for the time in seconds after which the teach-in cuts for AFC are ended automatically. The function behaves like the pressing of the EXIT LEARNING soft key after the appropriate time. This function is deactivated again by programming = 0. FN17 – ID2020 NR1 FN 17: SYSWRITE ID 2020 NR1 makes it possible for you to set PLC markers M4030 and M4031 for tapping. This way a brief resetting of marker M4031 in Cycle 209 can be prevented. FN17 – ID1000 FN 17: SYSWRITE ID 1000 NR IDX = makes it possible to change machine parameters in the process memory. The change remains in effect until a reboot is performed or an MP file or MP subfile is selected, writing a new value to the MP. The unit of the must be the same as the unit of the MP in the MP file. Note When reading or writing machine parameters with the FN17/FN18 function ID1000, the value of corresponding MPs are always read and written in millimeters, even if inches are used in the NC program instead of millimeters.
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HEIDENHAIN Technisches Handbuch iTNC 530
New soft key within the WATCH LIST function: The new TABLE soft key is available in the third soft-key row. Select any operand in the WATCH LIST. Press the TABLE soft key to get directly to the selected operand in the table of the PLC memories. Symbolic names with more than 24 characters in the WATCH LIST Names for operands with more than 24 characters can now by entered in the SYMBOL column of the WATCH LIST without getting an error message. Characters after the 24th position (number of significant characters) are truncated.
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PLC modules
Changed: Module 9035 (Reading the status information) Module 9035 with index 4 (displayed screen window) now supplies in bits 4 and 12 the information of whether the PLC status window is being displayed. Bit 4 always = 0, since the window can never be displayed Bit 12 = 1: PLC status window present in the machine screen Changed: Module 9158 (Torque limiting by the PLC) Error code 2 is now also returned in W1022 for Module 9158 if the axis number of an axis is invalid, if it is an open-loop axis, or if it is temporarily not a closed-loop axis. Changed: Modules 9180 to 9184 (Simulation and disabling of keys and key groups) The modules 9180, 9181, 9182, 9183 and 9184 now also support vertical soft keys. This is achieved in Modules 9183 and 9184 with the new keygroup code 7 (vertical soft keys, switchover key for vertical soft keys). Changed: Module 9222 (Status request of PLC positioning movement) In the Program Run modes, Module 9222 reports with value 6 the status “PLC positioning temporarily halted” (stop in the Automatic operating modes). Changed: Module 9245 (Read a field from a table) Module 9245 and the tableread function (PLC screen masks) can now be used to read data, including strings, from system tables like the tool table and pocket table (*.T and *.TCH). Data can be read from all freely definable tables. The error codes have changed accordingly: Marker M4203 W1022
1 – 30
Value
Meaning
0
Field was read
1
Error code in W1022
1
Line does not exist in table
2
Incorrect “file handle” or table was opened in “buffered” mode
3
Impermissible string numbers
7
Module could not read from the table
20
Module was not called in a spawn or submit job
29
The opened file is not a valid table
30
Field name does not exist in table
HEIDENHAIN Technisches Handbuch iTNC 530
Module 9048 Interrogating the operating states of axes Module 9048 is used to interrogate the operating state of a certain axis or for all axes together. Call: PS
PS
CM PL
B/W/D/K Axis number: Individual information for a programmed axis –1: Information for all axes, bit-coded as axis mask B/W/D/K 0: Brake test active/inactive 1: Free rotation active/inactive 9048 B/W/D Interrogation of an individual axis: 1/0 = active/inactive Interrogation of all axes: Bit-coded axis mask
Error recognition: Marker
Value
Meaning
M4203
0
Status has been read
1
Error code in W1022
W1022
1
Invalid value for status information
2
Invalid axis programmed: If status information 0 was transferred, then this error occurs if an invalid axis number, an open-loop axis or an axis that is temporarily not a closed-loop axis was selected. If status information 1 was transferred, then this error occurs if an invalid axis number, an open-loop axis or an axis that is temporarily not a closed-loop axis was selected, or if a slave axis or the NC axis is not a rotary axis.
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Module 9064 Status information about collision monitoring With Module 9064 you interrogate whether collision monitoring is active in the currently selected operating mode. Call: PS
CM PL
B/W/D/K 0: Interrogation of DCM status in the current operating mode 9064 B/W/D With Mode 0 0: Monitoring not active 1: Monitoring active
Error recognition: Marker M4203 W1022
Value
Meaning
0
Status has been read
1
Error code in W1022
1
Invalid value for mode
Module 9065 Status of the commissioning function (expanded) Module 9065 is used to activate commissioning functions and ascertain status information dealing with the determination of the field angle of an axis. Conditions: Synchronous, linear and torque motors determine the field angle each time the control is started if no EnDat or Z1-track encoders are used. For the duration of determining the field-angle (about 5 to 7 seconds), 1 returns bit-coded the axes for which field-angle determination is active. Module 9162 reports that the rotary encoder is not ready while the field angle is being determined. A PLC error message can be suppressed if determining is active. Call: PS
CM PL
B/W/D/K 0: Axes for which the field angle is being determined with a commissioning aid and an internal oscilloscope 1: Axes for which automatic determination of the field angle is active 9065 B/W/D
Error recognition: Marker M4203 W1022
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Value
Meaning
0
Axes have been determined
1
Error code in W1022
1
Invalid value for mode
HEIDENHAIN Technisches Handbuch iTNC 530
Module 9066 Status of HEIDENHAIN hardware (changed) Module 9066 interrogates the status information of HEIDENHAIN hardware components, including the SIK component. The module can only be called in cyclic PLC programs. Call: PS
CM PL
B/W/D/K 0: HEIDENHAIN inverter 1: SIK ID 9066 B/W/D Code 0: HEIDENHAIN inverter Bit 0: Not used Bit 1: dc-link voltage too high Bit 2: Heat sink temperature too high Bit 3: Short-circuit of a motor phase with Uz Bit 4: dc-link current too high Bit 5: Power supply unit not ready Bit 6: Leakage current too high Code 1: SIK ID
Error recognition: Marker M4203 W1022
Value
Meaning
0
Status has been read
1
Error code in W1022
2
Invalid value for code
24
Module was called in a spawn or submit job
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Module 9128 Torque limiting by the PLC Module 9128 can be used to program a maximum torque for the programmed axis. The torque of the drive is limited to the programmed value. The value –1 cancels the torque limitation and the value from the motor data becomes effective again. The torque can be limited in [mA] or in [0.1%] of the rated current. Condition: The module is only executable in the cyclic PLC program. The programmed value for the maximum torque may not be higher than the value in the motor data. If the programmed value is higher than the value in the motor data, the value in the motor data is used as the limit. A torque value of 0 cannot be programmed. Programming a torque value of –1 cancels limitation. The original value from the motor data becomes effective again. The unit of the resulting torque is [mA]. If a drive is switched off, the torque from the motor data becomes effective when it is switched on again. Call: PS
PS PS CM
B/W/D/K 0: Current in [0.1%] of the rated current 1: Current in [mA] (like Module 9158) B/W/D/K 15: Spindle B/W/D/K –1: Cancel the torque limiting 9128
Error recognition: Marker M4203 W1022
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Value
Meaning
0
Torque limiting programmed
1
Error code in W1022
1
Invalid value for torque
2
Invalid value for axis number or mode, axis is an openloop axis or is temporarily not a closed-loop axis
24
Module was called in a spawn or submit job
HEIDENHAIN Technisches Handbuch iTNC 530
Module 9129 Status of torque limiting by the PLC Module 9129 is used to determine the current status of torque limiting for the programmed axis. The momentary maximum torque can be determined in [mA] or in [0.1%] of the rated current. Condition: The module is only executable in the cyclic PLC program. The greatest possible return value is the value resulting from the motor data. If torque limiting is not active, the maximum current can be determined from the motor data. Call: PS
PS CM PL
B/W/D/K 0: Limiting active/inactive 1: Current in [mA] 2: Current in [0.1%] of the rated current B/W/D/K 15: Spindle 9129 B/W/D Mode 0: 0 = Limiting active / 1 = Limiting inactive Mode 1: Current in [mA] Mode 2: Current in [0.1%] of the rated current
Error recognition: Marker M4203 W1022
Value
Meaning
0
Status has been read
1
Error code in W1022
2
Invalid value for axis number or mode, axis is an openloop axis or is temporarily not a closed-loop axis
24
Module was called in a spawn or submit job
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Module 9173 Speed-dependent wye/delta switchover With Module 9173, a monitoring function dependent on the speed can be realized for the wye/delta switchover of the spindle. A switchover request is detected by Module 9174, which supplies the current status of the wye/delta operation. If a switchover is necessary, this is still done by Module 9163. The actual speed is assumed during the switchover. The readiness of the current controller is automatically rescinded when Module 9163 is called. Condition: The module should not be called cyclically. A single call is enough for activation, deactivation or changing. Additional information: Useful combinations for parameter: xx0 Deactivate monitoring 001 Monitoring on, Switchover compatible 011 Monitoring on, Accelerated but safe switchover, Wait for readiness of current controller 111 Monitoring on, Fastest switchover possible Call: PS
PS PS CM
B/W/D/K Bit 0: 0 = Monitoring off (function deactivated) 1 = Monitoring on (automatic assumption of the actual speed during switchover) Bit 1: 0 = Switchover compatible to previous switchover; switchover same as first switch-on of spindle 1 = Switchover accelerated Bit 2: 0 = Wait for readiness of current controller 1 = Do not wait for readiness of current controller B/W/D/K B/W/D/K 9173
Error recognition: Marker M4203 W1022
1 – 36
Value
Meaning
0
Speed-dependent monitoring active
1
Error code in W1022
1
Invalid speeds (switchover speed of wye operation ≥ switchover speed of delta operation), or negative speed
HEIDENHAIN Technisches Handbuch iTNC 530
Module 9174 Spindle status regarding wye/delta switchover Module 9174 supplies the current spindle status for wye/delta operation. In order to receive one of the two “Request switchover x -> x” status values, the speed-dependent wye/delta switchover monitoring in Module 9173 must be active. Call: CM PL
9174 B/W/D/K 0: Spindle in wye operation 1: Request for wye -> delta switchover 2: Spindle in delta operation 3: Request for delta -> wye switchover
Module 9216 Pop-up window with tool selection lists (expanded) Module 9216 was expanded by Mode 3. With it, the selection list also displays tools for which a pocket is reserved in the magazine. Call: PS
B/W/D/K 0: Tools in tool table not in the magazine 1: Tools in tool table in the magazine 2: Empty pockets in the magazine 3: Tools with reserved pockets in the magazine
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Module 9248 Copying, renaming and deleting files Module 9248 is used to copy, rename and delete files. This module can be used to access all mounted drives. Any necessary file conversions (ASCII --> binary, binary --> ASCII) are performed automatically during the copy process. Conditions: The file names must contain drive information (e.g. PLC:) and file types. The file types are used to determine whether a conversion is necessary. If a conversion must be performed, then the file types must be identical. The file types are used to determine whether renaming is permissible. If the file type remains the same during renaming, then there are no limitations. If the file type is changed, then renaming is only permitted between certain file types. Dependencies with other files are not considered when deleting files. Call: PS PS PS
CM
B/WD/K/S B/W/D/K/S Only with mode 0 or 1 B/W/D/K 0: Copy 1: Rename 2: Delete 9248
Error recognition: Marker M4203 W1022
1 – 38
Value
Meaning
0
Successful execution of module
1
Error code in W1022
2
Module was called in an invalid mode setting
7
Error during file conversion, invalid source or target string, error during copying without file conversion, or source file does not exist
20
Module was not called in a submit job or spawn job
36
Not identical file types, conversion not possible
HEIDENHAIN Technisches Handbuch iTNC 530
Module 9300 Locking/releasing the pocket table (expanded) Module 9300 locks the pocket table for pocket switching with Modules 9305, 9306 and now also 9301, 9302 or 934x, and then releases it again. The module can now also be called while an NC program is running. This means that error code 5 has been removed. The module had returned it when the module was called during a running NC program. Error code 6 was introduced in its place. This results in the following behavior: Call: PS
CM PL
B/W/D/K 0: Release the pocket table 1: Lock the pocket table 9300 B/W/D 0: Pocket table locked/released 1: Pocket table could not be locked 2: Pocket table could not be released 3: Transfer parameter invalid 4: Module was not called in a spawn job or submit job 5: Not used 6: Code 0: Pocket table already released Code 1: Pocket table already locked
Module 9304 Copy pocket-table entry to PLC memory Module 9304 copies the contents of the freely definable columns p1 to p5 of a pocket-table entry into the word memory of the PLC. Call: PS B/W/D/K PS B/W/D/K PS B/W/D/K CM 9304 Error recognition: Marker
Value
Meaning
M4203
0
Successful execution of module
1
Error code in W1022
W1022
1
Invalid pocket number programmed
2
Invalid magazine number programmed
4
Invalid double-word address programmed
20
Module was not called in a spawn job or submit job
36
Error in file handling
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Module 9305 Tool exchange in the pocket table (expanded) Until now the module could only be called at standstill or during a strobe output. Now the module can also be called during a running NC program if the pocket table has been locked by the PLC with Module 9300 against other accesses. The meaning of error number 21 in W1022 changes correspondingly. Error recognition: Marker
Value
Meaning
W1022
21
Module was called during an NC program run without any locking in place
Module 9306 Exchange tools between tool magazines (expanded) Until now the module could only be called at standstill or during a strobe output. Now the module can also be called during a running NC program if the pocket table has been locked by the PLC with Module 9300 against other accesses. The meaning of error number 21 in W1022 changes correspondingly. Error recognition:
1 – 40
Marker
Value
Meaning
W1022
21
Module was called during an NC program run without any locking in place
HEIDENHAIN Technisches Handbuch iTNC 530
Module 9311 Dynamically change values for friction compensation Module 9311 is used at run-time to prescribe other values for the friction compensation. The original values from MP2610.x, MP2612.x and MP2614.x are temporarily overwritten in the DSP. The MP file remains unchanged. Conditions: This function is supported as of the DSP hardware CC 424. Call: PS PS PS PS CM
B/W/D/K B/W/D/K 0..30000 replaces the value in MP2610.x B/W/D/K 0..10000 replaces the value in MP2612.x B/W/D/K 0..10000 replaces the value in MP2614.x 9311
Error recognition: Marker
Value
Meaning
M4203
0
New values assumed for axis number
1
Error code in W1022
W1022
1
Invalid value as replacement for machine parameter
2
Invalid axis number programmed
19
Function is not supported by the DSP board (CC 422)
24
Call was not from a cyclic program
Module 9312 Change machine parameters in the current machineparameter file Module 9312 is used to dynamically overwrite the values of the machine parameters of the active machine-parameter file or the process memory of the DSP. Conditions: For numbers the values must be returned as an integer. The decimal point is shifted by the number of possible decimal places. For example, if MP910.0 is to be set to 100.12 mm, then the transferred must be 1001200. (4 possible decimal places lead to a multiplication by 10 000). For non-indexed machine parameters, zero must be programmed as the index. Once the NC program has started, the module operates only during the output of M/G/S/T/T2/Q change signals. Depending on the changed machine parameter’s type, the geometry is reinitialized. Not every MP can be changed by the PLC.
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Call: PS
PS
PS PS PS
CM PL
B/W/D/K Bit 0: 0 =Modify MP numerical value (MP is a number) 1 =Modify MP string (MP is a string) Bit 1: 0 =Modify parameter in file (bit 2 is then relevant) 1 =Modify parameter in process memory (behavior like Module 9031) Bit 2: 0 = Change file and immediately assume new value(s) in NC 1 = Change file and do not immediately assume new value(s) in NC Will be assumed at next call with bit 2 = 0 B/W/D/K/S not supported at present (a value must be transferred, but the value entered is not evaluated yet) B/W/D/K B/W/D/K B/W/D/K/S Depending on the mode, the MP value is interpreted as a PLC string number, PLC constant string or number 9312 B/W/D 0: No error 1: Parameter does not exist or cannot be changed 2: New value for parameter is invalid 3: Error while saving 4: Call was not in a submit or spawn job 5: Call during running NC program without change signal 6: Invalid PLC string for file name or MP value 7: Parameter file does not exist
Error recognition: Marker M4203
1 – 42
Value
Meaning
0
No error
1
See error code
HEIDENHAIN Technisches Handbuch iTNC 530
Module 9313 Read machine parameters Module 9313 reads the contents of machine parameters from the process memory or from the current machine-parameter file. For machine parameters defined as numerical values, the content can also be read as a string. Machine parameters defined as strings cannot be read as numbers. Call: PS
PS
PS PS PS
CM PL
B/W/D/K Bit 0: 0 = Read MP as numerical value (MP must be a number) 1 = Read MP as string (MP can be a number or text) Bit 1: 0 = Read MP from file 1 = Read MP from memory B/W/D/K/S not supported at present (a value must be transferred, but the value entered is not evaluated yet) (only the active MP file can be read from) B/W/D/K B/W/D/K B/W/D/K/S Mode bit 0 = 0: Interpretation as a double-word address Mode bit 0 = 1: Interpretation as a PLC string number 9313 B/W/D 0: No error 1: MP number, PLC string or PLC double-word address invalid 2: No “:” separator in MP file, e.g. (MP 10: %0111) 3: MP value outside permissible value range 4: MP not found in file 5: No MP file found 6: Call was not in a submit or spawn job 7: MP (defined as string) cannot be read as a number 8: No system memory
Error recognition: Marker M4203
Value
Meaning
0
No error
1
See error code
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Module 9322 Information of the current NC program (changed) With Module 9322, you can determine the current block number of the active NC program. If the module is called from the cyclic PLC program, only the block number of the current NC main program is read in real time. If the module is called from a spawn job or submit job, the path of the current NC program is determined in addition to the block number (from the block scan). Constraints: Because of the geometry look-ahead, the call from the cyclic PLC program only supplies the block number in real time, but no information about the NC program. Call from the cyclic PLC program: For all traverse blocks that are not generated from an NC program, a cycle or an NC macro, block number –1 is read. Call from the cyclic PLC program: After the NC program is cancelled or after the end of the NC program, the last block number executed is returned. Call: PS
PS CM PL
B/W/D/K When called from a cyclic PLC program, the setting of is without effect. The block number of the active NC program is always returned. When called from a spawn job or submit job: 0: String / block number and path refer only to the active NC (sub)program. Block number from block scan. 1: String / block number and path refer to the active NC (sub)program or cycle. Block number from block scan. 2: Only the name of the NC main program without information about the block number (block number is set to 0 when executed correctly). B/W/D/K Call from a cyclic PLC program: Without effect. 9322 B/W/D –1: Error if error marker is set –1: Block number in certain cases, if call was from a cyclic PLC program
Error recognition: Marker M4203 W1022
1 – 44
Value
Meaning
0
Information of current NC program has been read
1
Error code in W1022
1
Invalid mode
2
Invalid string number
HEIDENHAIN Technisches Handbuch iTNC 530
Module 9390 Open the online help window with the control’s browser With Module 9390 you open an online help window with the control’s browser. The module can be called from a cyclic PLC program or from a spawn job or submit job. The extension .CHM can be given in the call, but is not necessary. Constraints: The .CHM help file must be stored language-sensitive in the TNC:\tncguide\de directory, or in TNC:\tncguide\en etc. If an empty string is given as file name, the main.chm file is used. Depending on the link in main.chm the context number then branches to the OEMx.CHM specified there. If 0 was given as the help number, or if the given number could not be found in the help system, the start page of the given help file is opened. If the help system could not be started (e.g. the *.CHM file is missing), an NC error message with a reference to this PLC module is generated. Call: PS PS CM
SXX
from string number S0/S1/... or S “file” or S“” K/B/W/D 9390
Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
2
Invalid parameter or parameter does not exist
22
Help system could not be started
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Module 9391 Display an error number with additional offset With Module 9391 you can display with an additional offset a PLC error message from the .PET table. Module 9391 behaves like Module 9085. The module can be called from a cyclic PLC program or from a spawn job or submit job. An offset is added to the value for the help number in the .PET file in order to generate the actual help number. This way a group error number can be defined for an (OEM) device in the .PET table. The error number (used as an offset) supplied by the device in case of error then leads to the appropriate help text. Two new columns were added to the .PET table for this. In the column ONLName you enter the file name of the help file that is to be called additionally in connection with an offset. In the ONL-Number column you enter the ID (=help number) of the HTML page in the help file to be opened. The offset is added to this ID (=help number) during the module call, and is given by the module. This makes it possible to refer to specific HTML pages in addition to the more general PLC error message. Constraints: The .CHM help file must be stored language-sensitive in the TNC:\tncguide\de directory, or in TNC:\tncguide\en etc. An OEM-specific OEMx.CHM file is necessary. If no OEMx.CHM file is indicated, the online help is not called. All other reactions saved for this error in the .PET table are performed. Call: PS PS CM
K/B/W/D K/B/W/D 9391
Error recognition:
1 – 46
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
2
Invalid parameter or parameter does not exist
HEIDENHAIN Technisches Handbuch iTNC 530
New smarT.NC functions
DXF: Divide contour elements (software option) In the DXF converter you can now also divide poorly connecting contour elements so that they are selectable as individual contours. DXF: Extract machining positions (software option) Along with contour programs (*.HC files), point files (*.HP files) can also now be generated directly by the DXF converter. Behavior between two machining points (upgrade function) An approach height can now be defined for each machining point in a point pattern. The TNC then approaches this position at the height you defined. Useful for: Moving over chips or other hindrances. Contour pocket on point pattern (upgrade function) A contour pocket can be machined on a point pattern using Unit 130. Rapid probing (upgrade function) Various touch-probe parameters can be set globally using Unit 441. Touch probe Cycles 408 and 409 (upgrade function) It is now possible to set presets in the center axis of a slot or ridge using Units 408 and 409. Editor in the Programming and Editing operating mode (upgrade function) Creation and editing of *.HU and *.HC programs on the simulation side of the control in smarT.NC mode. Feed-rate reduction during machining of contour pockets (upgrade function) When clearing out a contour pocket, traverse paths where the tool is in full engagement result, such as in narrow channels or when shifting to the next clearance path. Now you can define a percent value by which the TNC reduces the feed rate in such situations. Tool table in the smarT.NC look and feel The tool table TOOL.T can now also be edited in the smarT.NC operating mode. The depiction was adapted to smarT.NC. Expanded file management The file management in smarT.NC was revised completely. End angle can be defined for a pitch circle instead of an angle increment As part of the pitch-circle definition, an end angle can now be defined instead of an angle increment in a point pattern. Climb milling/up-cut milling for helical finish milling In Unit 208 it is possible to define the milling direction (climb milling/up-cut milling).
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Scale in the pattern generator A scale can now be shown in the pattern generator, so that the dimensions of the defined machining pattern can be determined. Zoom function in the pattern generator A zoom function is now available in the pattern generator, with which the view of the defined machining pattern can be magnified. Align workpiece with Units 401 and 402 Units 401 (basic rotation over 2 holes) and 402 (basic rotation over 2 studs) were expanded for the purpose of compensating via rotation in the C axis a misalignment determined with the cycles. Rapid traverse with the PLANE function FMAX can now be programmed with the PLANE function. The rapidtraverse override potentiometer functions accordingly when this function is executed. Selection of datum number With the datum shift (Unit 7) you can now select a datum number from a datum table via soft key. Tool names with measuring cycles for workpiece measurement For cycles for workpiece measurement, a tool name can now be defined for the tool to be corrected instead of the tool number. Remanently store control settings Settings for the control in the smarT.NC operating mode are saved beyond the run-time of a process or a reset of the control.
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HEIDENHAIN Technisches Handbuch iTNC 530
New plainlanguage programming functions
DXF: Divide contour elements In the DXF converter you can now also divide poorly connecting contour elements so that they are selectable as individual contours. DXF: Extract machining positions Along with contour programs (*.HC files), point files (*.HP files) can also now be generated directly by the DXF converter. Feed-rate reduction during machining of contour pockets (upgrade function) When clearing out a contour pocket, traverse paths where the tool is in full engagement result, such as in narrow channels or when shifting to the next clearance path. Now you can define a percent value by which the TNC reduces the feed rate in such situations. Climb milling/up-cut milling for helical finish milling In Cycle 208 it is possible to define the milling direction (climb milling/up-cut milling) via parameter Q351. Text strings in Q-parameter programming Strings can now also be used and processed when programming Q parameters. Text strings possible in CYCLE DEF In CYCLE DEF, individual cycle parameters can now be entered as text strings instead of as numerical values or constants. Tool names with measuring cycles for tool measurement For cycles for workpiece measurement, a tool name can now be defined for the tool to be corrected instead of the tool number. Tilted status during program interruption If bit 9 is set in MP7682, then if the MANUAL OPERATION soft key is pressed during a program interruption, the Tilting ON/OFF status from program run is assumed in the Manual operating mode. That way the tilted status is exactly as it was defined in the program. Safety clearance at the end of Cycle 27 For Cycle 27, a retraction in the direction of the tool axis to the safety clearance is now only done after machining a contour pocket if MP7420 bit 4 is set.
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New touch probe functions
New probe cycles for presetting (FCL 3 function) The new touch-probe cycles 408 and 409 are available for presetting at the center of a slot or a ridge. New 3-D probing cycle (FCL 3 function) The new touch-probe Cycle 4 is available, with which you can perform a measurement in three dimensions. You define the direction of traverse via three incremental traverse paths in X, Y and Z. You can receive the results of the measurement in either the workpiece or the machine coordinate system. Align workpiece with Cycles 401 and 402 Cycles 401 (basic rotation over 2 holes) and 402 (basic rotation over 2 studs) were expanded for the purpose of compensating via rotation in the C axis a misalignment determined with the cycles. Measuring results available globally Measuring results of the cycles for datum setting (408 to 419) are now available for further use in Q parameters.
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HEIDENHAIN Technisches Handbuch iTNC 530
New NC functions
Global PGM Settings (software option #44) Possibility of superimposing various coordinate transformations and settings in the program-run modes of operation.
Warning The following must be observed when using the Global PGM Settings: Basically, all settings in the Global PGM Settings remain active when executing cycles and NC programs. However, when executing macros or PLC positionings, all Global PGM Settings are automatically deactivated. If you disable one or more axes via Global PGM Settings, then this disabling is only cancelled within a macro or during the PLC positioning. However, if you transfer axis position values to the PLC (e.g. with FN19) within a cycle or NC program and then perform a positioning with the PLC, then this positioning really is performed with all axes. However, if the axis position values transferred from a cycle or an NC program are not approached, due to the Global PGM Settings, then this can lead to a crash during the subsequent PLC positioning. M118 cannot be deselected in cycles if handwheel superimpositioning has been activated in the Global PGM Settings. However, handwheel superimpositioning is automatically deactivated in the Global PGM Settings when executing a macro. If you read the position values of an axis via the PLC, then when you interrogate the nominal values, the nominal value programmed in an NC program is returned, not the actual value of the axis. If further actions derive from the nominal value, then this can lead to problems, since these value do not necessarily reflect the actual position values of the axes. If you interrogate the actual value of an axis, then the actual position is returned.
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Changed NC functions
Additional status display The additional status display was improved. The following changes and improvements were made: • The additional status display is now shown in forms, structured with tabs. You switch between the tabs via soft keys. The STATUS PGM, STATUS POSITIONS, STATUS TOOL and STATUS COORDINATE TRANSFORMATIONS tabs can be selected directly, and the other status displays are selected with soft keys. • The most important status information is now collected on an overview page. • A progress bar with the current program run time in % is now shown in the PGM status. In addition, the actual and programmed feed rate are shown as numerical values. • The active machining cycle and the active parameters programmed in Cycle 32 Tolerance are shown in the CYC status. • The active basic rotation is now also shown in the TRANS status. • Only the status information important for test run is shown in the Test Run operating mode. • If the Global Program Settings software option is available, two additional tabs containing information about the activated functions are shown. • If the Adaptive Feed Rate Control software option is available, the additional AFC tab containing information about the feed-rate control is shown. PLANE function FMAX can now be programmed for the positioning speed of the PLANE function. Tool-usage file The total machining time of the program is now also available in the toolusage file. This time serves as the basis for the progress display in the additional status display when the program is being executed. Tool-pocket table Up to 9999 magazine pockets can now be managed in the tool-pocket table. Network protocol The TNC can now also be connected via NFS version 3. A higher datatransfer speed is available in this mode. Circular motions with active rotation Circles that were not traversed in the active main plane can now also be machined in combination with Cycle 10 Rotation. Until now an undefined motion occurred, and an error message was output if the rotation was increased. Collision with M140/M150 If M140 or M150 is active, then no more error message is shown if there would be a collision. Similar to the limit switches, positioning is ended if the programmed motion results in a collision.
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iTNC – Operation and technique
New multiturn encoders are supported If a software version less than 340 49x-02 SP7 is being used, then the error code 0x7F in the EnDat defective error message has another meaning in addition to the error codes in the Technical Manual. If a motor with a newer generation multiturn encoder is attached to a CC 424 with a software less than 340 49x-02 SP7, the EnDat error 0x7F is reported. In this case the NC software must be updated to 340 49x-SP7 or 340 49x-03. The motors will be equipped with these rotary encoders no earlier than 2007. Reversing a software update If a target file for the SavePlc parameter is given in the setup.ini file, then a software update can be reversed. The iTNC then automatically saves a link to the file that is necessary in order to reverse the update. After an update, the -SETUP code number is entered on a single-processor control, and the Setup Back button is pressed in the iTNC Control Panel on a dual-processor control in order to reverse an update. The previous software version is then reinstalled. The PLC partition is restored from the *.zip file that was entered under SavePlc= in the setup.ini file. Please note that a subdirectory in which you want to save the *.zip file must be created on the TNC partition before the update, otherwise the update is cancelled when backing up the old PLC partition. Only updates from one full software version to another can be reversed. You cannot reverse the installation of service packs. Note A software update can only be reversed if the new software was updated onto a software as of version 340 49x-03. If you install version 340 49x-03 onto version 340 49x-02, then this update cannot be reversed with –SETUP. New ending for setup files Until now, setup files ended with .omf. The ending .elf is also possible with NC software 340 49x-03. Function of the LOAD SP soft key changed The LOAD SP soft key, which is available in the Programming and Editing operating mode after pressing the MOD key, now functions identically to the SETUP code number. This means that now instead of selecting a directory, a setup.elf or setup.omf file in the appropriate directory must be selected in order to install a new software version. This soft key can be used for installing service packs and full versions.
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Common USB stick for single- and dual-processor versions You can now save two different update procedures for automatic software updating on one USB stick. This makes it possible to use just one USB stick for updating iTNCs with and without Windows 2000. In addition to the install directory, the following directories are also checked for the presence of the setup files when the control is booted: • iTNC without Windows - USB0:\installsingle\ (USB0: first partition of the first USB memory device) • iTNC with Windows - G:\installdual\ (G: corresponds to the drive letter of the USB memory device) Automatic setting of the FCL with a new SIK On a control in which no FCL was set in the SIK (after installation of such a software), the FCL was automatically set to the highest value supported by the software after the control had been restarted 100 times. As of 340 49x-03, this automatic setting of the FCL does not take place until the control has been restarted 255 times. Positioning of open-loop counter axes A new mechanism ensures that open-loop counter axes (MP120.x = 0) are traversed to the position required by the NC program. The execution of the NC program is interrupted at the point where the counter axes are programmed. An appropriate display points out a difference between the nominal and actual value. Only once this difference has been fixed can the program be continued. Tool-usage file expanded The new WTIME column has been added to the tool-usage file. It indicates how long a tool was selected during the program. It also includes the times where the tool was moved without M3/M4, as well as times where it was moved at FMAX. In contrast to this, the TIME column only indicates the time that the tool was used to machine a workpiece (spindle on and not at rapid traverse!). If the tool-usage file is created in the Test Run operating mode, the entered times may deviate minimally from the actual machining times. In the Test Run operating mode an override of 100% is used for calculation. In addition, two new lines were integrated in the tool-usage file: The line TIMETOTAL contains the sum of all entries in the TIME and WTIME columns. In the other columns this line contains the value 0. The PATH column in the TOOLFILE line contains the tool table that was active when the tool-usage file was created. This makes it possible to output an error message when checking the tool usage in the Program Run modes if the active tool table does not match the TOOL.T file. Feed-rate limiting for M128 The speed for compensating movements with M128 is now also limited via the PLC and the FMAX soft key, in addition to MP7471.
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Oscilloscope starting from the message for power interruption It is now possible to operate the oscilloscope with reduced functions starting from the Power interrupted message. If you enter the code number DSP123 before calling the oscilloscope, then starting from the Power interrupted message the data are recorded and can be displayed via the oscilloscope. Note Please note that the control has not finished booting at this time, and that the displayed values can therefore deviate from the correct or expected values. Log entries • The log entries for the arrow keys and the TAB key were changed as follows: Cursor Left, Cursor Right, Cursor Up, Cursor Down, Tab. • Differences between positions at switch-on and switch-off for axes with EnDat encoders are now entered in the log. • Data from a PLC positioning is now entered in the log. • If errors occur in the kinematics description when using the old format, they are entered under KINEMATIC in the log. If a file or table column is not found, the file or column name is entered in the log. • If a soft key defined by a resource file and having an overlay value is pressed, the overlay value is entered in the log. Additional log A second log parallel to the existing log was introduced. It is in the batterybuffered RAM, and so enables access to the log data on the control even without a hard disk. Enter the code number LOGBOOK1 to output it and save it as an ASCII file. This log is not available for the programming station. Limit external access to the control External access to the control via LSV2 can be limited to specified computers. If the entry REMOTE.PERMISSION = ; exists in the TNC:\TNC.SYS file, then only the computers listed will be granted access to the control. The entry can be either the names or IP addresses of computers, and must be separated by semicolons. Access to the control is refused if the REMOTE.PERMISSION entry exists in the TNC:\TNC.SYS file but the computer is not listed. If the REMOTE.PERMISSION entry does not exist, then every computer can access the control. Disable software options for General Key Use the keyword LOCKEDOPTIONS = [,[,...]] in OEM.SYS to select software options that can then not be enabled by the General Key. is the number of the software option to be disabled. This way you can disable those software options for which your machine is not prepared. Example: LOCKEDOPTIONS = 44,45
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Recognition of rotary axes improved The fact that an axis is a rotary axis could until now only be defined for NC axes (A, B, C) via MP100.x. If an angle encoder with distance-coded reference marks was used on a PLC axis, the error message Encoder defective was generated during a zero crossover. Now this information is detected for a rotary axis either in the axis designation (MP100.x) in the momentary traverse range or by the entry in MP810. PLC texts in UTF8 The PLC texts for PLC soft keys, FN14 error messages (UTF8 code in ERROR.A or FN14 file) and PLC mask files (UTF8 code in ERROR.A or DIALOG.A) can now be displayed as UTF8-encoded texts (e.g. for Asian languages). For the FN14 error messages and the PLC mask files, the UTF8 code must then exist in the files used. PLC texts that are to be displayed in the PLC status window may not be UTF8 encoded. As an alternative, the English character set may be used. Dialogs for user parameters and soft-key descriptions for the HR 420 cannot be displayed in Asian languages. If such dialogs are used, the English language is displayed instead. The ASCII characters of the values 0xEF, 0xBB and 0xBF serve to indicate the UTF8 code. These three characters must be in the correct sequence as the first three characters in the appropriate file, and only serve to indicate the UTF8 code. Read MP file without activation In the PLC Programming operating mode, files with the extension .MP or an unknown extension can be opened with the ASCII editor. You can use the PGM MGT key in the PLC Programming operating mode to open files, but the values of the machine parameters cannot be changed (write protection). This way you can open *.MP files for reading them without activating them.
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Edit NC programs on the PCL partition It is now possible to open NC programs with the NC editor in the PLC Programming operating mode. If in the PLC Programming operating mode you select via the PGM MGT key a *.H file on the PLC partition for editing, the control automatically switches to the Programming and Editing operating mode. Restore machine status In the PLC:\MGROUPS.SYS file you can now enter an M function in up to four groups. During block scan, the M function is collected for all groups in which it occurs, and is then considered during restoration. However, this could lead to such M functions being executed more than once when restoring the machine status. This function only makes sense if the ORDER = PRIO option has not been entered. Setting the system time via soft key (Only on single-processor controls) After pressing the MOD key in the Programming and Editing mode of operation, the SET DATE/TIME soft key is available. After pressing this soft key, the following window in which you can enter the system time appears. If you make any changes to these settings, the control must be restarted. Set the time zone for the control to automatically switch between standard and daylight savings time.
Adaptation of the motor tables for EcoDyn motors The two entries N-XH (Upper speed) and N-FS (Rotational speed for weakened-field operation) were added to the motor tables for EcoDyn motors. Until now the value for both these entries was 0, and they were not active. The adaptation of these two entries generally improves the behavior of the motors in weakened-field operation. Accelerate 3-D graphics during program test The function of MP7312 or the LCUTS column, as described in Update Info 12, is now supported. By entering in MP7312 as small a value as possible between 1 and 8, you should be able to detect an acceleration of the graphic simulation (the 3-D graphics) in the Test Run operating mode. However, HEIDENHAIN instead recommends entering the real values of the corresponding tooth lengths of the tools in the LCUTS column of the tool table.
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Wye/delta switchover of the spindle without spindle stop With the 340 49x-03 software it is possible to switch between wye and delta operation of the spindle without having to stop the spindle. However, only one gear stage can be used in order to use this direct switchover. This must be configured correspondingly via MP3010, MP3210 and MP351x. The flowchart shows the principle procedure for direct switchover of the modes via the PLC:
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The diagram shows in principle how you can determine the switchover speeds for the wye/delta switchover:
• 1: Lower switching speed = n(intersection) – 2% to 4% of nmax • 2: Speed at which the two characteristic curves intersect: n(intersection) at n(S1_wye) = n(S1_delta) • 3: Upper switching speed = n(intersection) + 2% to 4% of nmax Danger The contactor for the wye/delta switchover may not be switched under load!
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Expanded SIK functions The display and management of the SIK options, Feature Content Level and General Key was revised. Press the MOD key and enter the code number SIK to display the input mask for SIK functions:
The display gives you the following information and possibilities for settings: NC Information: Display
Meaning
ID number
Software
Rev.
Software version
Control Type
Type of control
Performance Class
Type of main computer
Features
Characteristics of the control
SIK Information:
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Display
Meaning
Identifier (SIK ID)
SIK number
Control Type
Type of control
Performance Class
Type of main computer
Features
Characteristics of the SIK
HEIDENHAIN Technisches Handbuch iTNC 530
Display
Meaning
SIK ok, wrong SIK (Control Type mismatch), wrong SIK (Features mismatch), wrong SIK (Performance Class mismatch), no SIK (Programming Station) or no SIK
Status of the SIK
General Key: The General Key permits you to enable and test all new Feature Content Level functions and software options. The General Key is valid for 90 days after the first enabling. After these 90 days have expired, the General Key can only be used again after the software version on your control has been updated. Display
Meaning
Status
NONE
General Key was not used yet for this software version.
dd.mm.yyyy
Date up to which all options will be available. It is not possible to enable them again after this date.
EXPIRED
General Key has expired for this software version. Enabling is not possible.
Set
Pressing the Set button or the SET GENERAL KEY soft key opens a window in which you press the Apply button or the SET GENERAL KEY button again to enable all options for 90 days. If this is done successfully, the General Key has been set message appears and the expiration data of the General Key is shown in the Status field.
Expire
Pressing the Expire button or the EXPIRE GENERAL KEY soft key opens a window in which you press the Apply button or the EXPIRE GENERAL KEY button again to expire the General Key immediately. Be aware that it is then no longer possible to enable the General Key for this software version!
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Feature Content Level (FCL): Danger If you reduce the Feature Content Level, then all new FCL functions and expanded features will be set to the desired lower version. Only error fixes remain active. This action can only be reversed by entering a valid code number again.
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Display
Meaning
Actual Value
Current version of the Feature Content Level
Installed Software Supports
Highest possible FCL with the current software
Set
Pressing the Set button or the SET FCL soft key opens a window in which you can enter the code number for the desired Feature Content Level under Enter Key Code. HEIDENHAIN can give you the code number after having been informed of the SIK number. Then press the Set FCL button or the SET FCL soft key to confirm the entry. If this is done successfully, the message Feature Content Level has been set appears.
Reduce
Pressing the Reduce button or the REDUCE FCL soft key opens a window in which you can enter the desired lower Feature Content Level under New (lower) FCL. Please note that this action can only be reversed by entering a valid code number again. If you really want to reduce the Feature Content Level, then press the Apply button or the REDUCE FCL soft key to confirm the entry. If this is done successfully, the message Feature Content Level has been reduced appears.
HEIDENHAIN Technisches Handbuch iTNC 530
SIK Options: All available software options and their corresponding numbers are listed in a table. The check marks in the first column indicate which software options have been enabled on your control. To enable additional software options, proceed as follows: 8
Press the MOD key and enter the code number SIK to display the input mask for SIK functions.
8
In the table on the right side of the screen, use the arrow keys or the mouse to select the software option you want to enable.
8
Pressing the Set Option button or the SET OPTION soft key opens a window in which you can enter the code number for the desired software option under Enter Key Code. HEIDENHAIN can give you the code number after having been informed of the SIK number.
8
Enter the code number and confirm the entry by pressing the Apply button or the SET OPTION soft key.
8
If this is done successfully, the message Option has been set appears, and the option is checked in the table.
When you leave this table of SIK functions by pressing the END soft key or the END key, you are requested to reboot the control if you have made any changes. Press the emergency stop button and press the Reboot Now! button or the REBOOT NOW soft key to reboot the control and activate the changes.
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New functions of the CC 424
Characteristic curve kink point for control with servo lag The characteristic curve kink point for operation with servo lag, defined via MP1820 and MP1830, can now also be used with the CC 424. Maximum braking time of 5 seconds rescinded Until now the switch-off procedure was allowed to take a maximum of 5 seconds until standstill. After 5 seconds at most the drive controllers (current and speed controllers) were switched off and SH2 was set. However, under certain circumstances high-speed spindles and torque motors with much inertia require more time to brake to a standstill from the maximum speed. For this reason the maximum braking time of 5 seconds was rescinded. Now the drives are braked until standstill, and only then is SH2 set. Speed-dependent switching of the PWM frequency This function is used with high-speed spindle drives. This switchover is only possible for double-speed control loops. In MP2186.x and MP2188.x, a speed-dependent hysteresis for switching the PWM frequency is specified. It only takes effect if the value in MP2188 is less than the value in MP2186. This function is associated with MP2182.x and MP2180.x Only if MP2182.x = 2, and MP2180.x ≤ 5 kHz, does the switching of the PWM frequency take effect. Please note that the adjustment of the current controller (MP2420, MP2430) is based on the lower PWM frequency ≤ 5 kHz. Adaptation of the current-controller parameters and consideration of the power-module derating are performed automatically. Using this function provides several benefits: • At lower speeds and therefore a lower PWM frequency, the power module provides a comparatively high current. This results in a relatively high maximum motor torque. • On the one hand, losses due to harmonics in the motor become more important as the speed increases, and on the other hand, the relationship between the electrical frequency and the PWM frequency worsens. These two disadvantages can be counteracted by increasing the PWM frequency. The resulting reduction of the current normally is insignificant, since in part due to motor characteristics, very high motor currents are mostly no longer possible or needed at higher speeds. Note The speed-dependent switching of the PWM frequency is only permitted with power modules from HEIDENHAIN. Danger Speed-dependent switching of the PWM frequency with non-HEIDENHAIN power modules can lead to malfunctions, and possibly to damage of the power modules. Therefore, only use this function with power modules from HEIDENHAIN.
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When determining the optimum switching speed for the PWM frequency, you should consider that the maximum motor current decreases as the speed rises, due to the finite dc-link voltage. The current for the drive depends on the maximum permissible motor current and power-module current. The smaller of the two values limits the current for the drive. The value of the maximum power-module current is reduced by approx. 30% because of the derating when doubling the PWM frequency. The optimum switching speed results from the intersection of the maximum current curve of the motor with the maximum current curve of the power module for the high PWM frequency. You can determine the maximum current curve of the motor spindle by using the TNCscopeNT software. Record the current Inoml/S in dependency of the speed. The spindle must be accelerated to the maximum speed so that the derating behavior can be seen in the curve. The figure shows the behavior when the values entered for the switching speed (MP2186.x, MP2188.x) are too low. This then results in a speed range where the current for the motor is less than the permitted and maximum current, resulting in inconsistencies in the motor’s torque behavior.
• 1: Red line: Maximum current for the drive, resulting from the entries in MP2186.x and MP2188.x • 1: Dashed line: Maximum possible current for the drive (Imax motor) • 2: Switching point for the PWM frequency set too low • 3: Optimum switching point for the PWM frequency • 4: Maximum power-module current at low PWM frequency • 5: Maximum power-module current at high PWM frequency (Imax power module) Summary • The speed is switched at the intersection of the two current curves (Imax motor, Imax power module) so that no inconsistencies in the torque behavior of the motor occur. • For better controllability (no harmonics at higher PWM frequencies), it might already make sense to switch at lower speeds. • The best speed to switch at must be determined by experimenting. The value above should serve as an initial value.
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More master-slave torque axes possible PWM outputs X55/X57 and X56/X58 can now be used on a CC 424 with 8 and 14 control loops to operate master-slave torque axes. Until now no more than two master-slave torque axes were possible on X51/X53 and X52/X54. C-axis operation possible C-axis operation is now possible with the CC 424 in the same manner as with the CC 422. The position encoder inputs of the CC 424 are used for Caxis operation. Counter axes and analog controlled axes are possible It is now possible with the CC 424 to operate uncontrolled axes (counter axes) or analog controlled axes (MP120 input value < 51) via the position encoder inputs. Monitoring the nominal speed If the nominal speed exceeds the maximum motor speed (N-MAX from the motor table) by more than 15%, an error message is output and an emergency-stop reaction is triggered. When using an EcoDyn motor, the error is triggered when the maximum permissible voltage is exceeded. Determining the field angle – Drive remains controlled After the commutation angle has been determined successfully, the 8150 – Field angle ascertainment successful error message is now output. The drive now remains controlled. Switch-on time via Module 9161 reduced The delay when switching on the axes via Module 9161 was reduced. Errors of a supply module lead to an NC stop and an emergency stop Errors of the supply module (e.g. excessive Uz or Uv temp.) now lead to an NC stop (if M148 then LIFTOFF) with a subsequent emergency stop. In earlier versions there was no NC stop. Overcurrent cutoff The momentary current is monitored by the CC 424, and the following errors now lead to an immediate cutoff: • Excessive actual current: If the actual current exceeds the maximum permissible current (depending on the power module and motor), the error 0xC3C0 (Motor current too high) is triggered. • Excessive current offset: If the offset current exceeds the permissible threshold (50% of the maximum current), the error 0xC600 (Current offset too high) is triggered. One possible reason could be a phase to earth fault.
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1.6.4 DCM – Dynamic Collision Monitoring Warning The following must be noted as of version 340 49x-03 when editing kinematics or associated tables. Only if this is followed are changes to the kinematics detected by the collision monitoring: If kinematics or an associated table (e.g. CMO descriptions) are edited in an NC program or NC macro with FN26:TABOPEN and FN27:TABWRITE, then they must be closed after the changes are made. This occurs automatically at the end of a program or if FN26:TABOPEN is called again. Activation of the kinematics is permitted with FN17:SYSWRITE ID290 NR1 here, since this FN17 function automatically closes all tables before activation. If a changed table is activated by the PLC via Module 9097 before it has been closed, the changes are not detected. If kinematics or an associated table are opened and edited by the PLC via Modules 9240 through 9246, they must be closed by the PLC after the changes have been made. This must be done before activation of the kinematics (e.g. via Module 9097), a tool call or a change of the tool data with M4538. If kinematics or an associated table are edited with the table editor, the editor must be exited with the END or PGM MGT keys. If the changed kinematics are activated (e.g. with PLC Module 9097 or FN17:SYSWRITE ID290 NR1) before the editor has been exited, the changes will not take effect.
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Transformations in CMOs
Software version 340 490-03 makes it easier to describe collision monitored objects (CMO) for the collision monitoring. It is now possible to insert the coordinate transformations directly into the object-description file of a CMO. Shifts and rotations can be entered in a CMO definition table via the keyword TRANS, an axis (X, Y, Z, A, B or C) in the AXIS column and a value in the new COORD column. This functions like entering the description of a kinematics configuration. The coordinate transformations in a CMO definition file are only effective within the respective object-description file, but there it affects all subsequent objects. This makes it possible in just one object-description file to describe rotated and unrotated objects, to describe multiple objects after a rotation that then all have the same position, and to shift the datum and then perform a rotation. The following kinematics section will be used as an example to show the changes in the description of the CMOs.
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The description of the kinematics with CMOs previously looked like this: NR
KEY
AXIS COORD
0
TOOLFILE
1
CMO
2
Trans
Z
67
3
Trans
Y
-105
4
Trans
A
15
5
CMO
6
Trans
A
-15
7
Trans
Y
105
8
Trans
Z
-67
9
Trans
Y
-140
10
Trans
Z
70
11
Trans
B
135
12
CMO
13
Trans
B
-135
14
Trans
Z
-70
15
Trans
Y
140
16
Trans
X
0.025
17
Trans
Z
145
18
MachAxis
B
19
CMO
20
MachAxis
Z
21
MachAxis
X
..
...
ON/OFF FILE
DONTTEST
HEAD
IR_Receiver
HEAD_Addition
Z-Portal
[END] The definition table for IR_Receiver: NR
KEY
X
Y
Z
AXIS
RADIUS
HEIGHT DOC
0
Cylinder
0
0
-35
Z
35
35
Connector IR_Receiver
1
Cylinder
0
0
-57
Z
30
22
IR_Receiver
[END]
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The definition table for HEAD_Addition: NR
KEY
X
Y
Z
0
Cuboid
-40
-20
-40
40
00
40
1
AXIS
RADIUS
HEIGHT DOC HEAD Addition
[END] The possibility of including the transformation of a CMO into the CMO’s own definition table improves the clarity of the kinematics table. This also makes it easier to integrate CMOs, since there are no changes to the actual kinematics of a machine. The description of the kinematics with CMOs can look like this as of 340 49003: NR KEY 0 TOOLFILE 1 CMO 2 CMO 3 CMO 4 Trans 5 Trans 6 MachAxis 7 CMO 8 MachAxis 9 MachAxis .. ... [END]
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AXIS COORD
ON/OFF FILE
DONTTEST
HEAD IR_Receiver HEAD_Addition X Z B
0.025 145 Z-Portal
Z X
HEIDENHAIN Technisches Handbuch iTNC 530
Transformations that were only contained in the kinematics tables for the description of CMOs are omitted completely and instead integrated in the CMO definition table. The new definition table for IR_Receiver: NR 0 1 2 3
KEY Trans Trans Trans Cylinder
X
Y
Z
0
0
-35
AXIS Z Y A Z
4 Cylinder [END]
0
0
-57
Z
COORD RADIUS HEIGHT DOC 67 -105 15 Position1 35 35 Connector IR_Receiver 30 22 IR_Receiver
As an alternative, the X, Y and Z columns can be used for the description of transformations, but then no entry is permitted in the AXIS column. If there is an entry in the AXIS column, the X, Y and Z columns are ignored. The new definition table for HEAD_Addition: NR 1 2 3
KEY Trans Trans Cuboid
4 [END]
X
Y -140
Z 70
-40
-20
-40
40
00
40
AXIS COORD RADIUS HEIGHT DOC B
135 HEAD Addition
Transformations in the CMO definition table must always occur before the definition of objects. These transformations only serve to describe the position and orientation of the CMOs, and do not need to be cancelled in order to describe the further kinematics of the machine. If there is a transformation at the end of a definition table, the error message Kinematic table defective is output.
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Changing CMOs in NC programs
The NC function WRITE TO KINEMATIC was expanded in order to adapt the position, orientation and size of CMOs to new situations even during execution of an NC program. It is now possible to search active CMO definition tables for keywords (KEY) and to overwrite individual cells in the table. When entering keywords in the DOC column, make sure that each keyword is only entered once. Note If you change the kinematics tables or CMO definition tables with WRITE TO KINEMATIC, then the values in the tables are overwritten. If you do not rescind the changes you made with WRITE TO KINEMATIC in the NC program, the new values remain in the table. The changes to the machine kinematics are then not just temporary. Example for a change to a CMO definition table in an NC program: Comment: 0
BEGIN PGM N545TCM MM
: 5
WRITE TO KINEMATIC AT COLUMN “COORD” CAPTURE “DOC” KEY “Position1” = 25
Overwrite cell in the kinematics table
6
WRITE TO KINEMATIC AT COLUMN “HEIGHT” CAPTURE “DOC” KEY “IR_Receiver” = 45
Overwrite cell in the kinematics table
4 3
WRITE TO KINEMATIC AT COLUMN “COORD” CAPTURE “DOC” KEY “Position1” = 15
Write original value to cell in table again
4 4
WRITE TO KINEMATIC AT COLUMN “HEIGHT” CAPTURE “DOC” KEY “IR_Receiver” = 22
Write original value to cell in table again
:
: Specifying the tool axis in the kinematics
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It is now possible to specify a permitted tool axis in the kinematics table. This way you can permit only a certain tool axis to be selected with a TOOL CALL. A tool axis is defined in the kinematics table with the ToolAxis keyword in the KEY column and by indicating an axis (X, Y, Z, U, V, W). As an alternative, the tool axis can also be defined in a SUBFILE or TOOLFILE. If a different tool axis is selected with a TOOL CALL, the Tool axis not allowed error message is output and an NC stop is triggered. The error message is generated as well if no tool axis is programmed in the TOOL CALL and no tool axis has been defined modally.
HEIDENHAIN Technisches Handbuch iTNC 530
So that the kinematics can be switched, the tool axis is not checked during the switch. This makes it possible to change the tool axis by switching the kinematics. The axes can be traversed without a subsequent TOOL CALL to activate the new, permitted tool axis, but the entry under ToolAxis and the active tool axis are not checked. Warning The following must be kept in mind when specifying a tool axis: After the kinematics have been switched, checking of the tool axis must be activated with a TOOL CALL. A tool axis may only be defined once via ToolAxis in the machine kinematics. If ToolAxis is defined more than once, then only the first instance is used. If the ToolAxis is to be switched via the kinematics tables, then the definition of the tool axis should be performed in the various SUBFILEs. This way you avoid multiple definitions in one kinematics description. Uniform kinematics
It is now possible to use uniform kinematics on machines with and without software option #40. An error message is no longer generated when a kinematics description with CMOs is used on a control without the DCM software option. Danger This means that an error message no longer appears if DCM is not available. Even if there are CMOs in the kinematics tables, there is no protection against collisions without software option #40 (DCM).
DCM with counter axes
The changes in position of manually-operated counter axes in the Manual Operation and El. Handwheel operating modes are now detected by the collision monitoring. However, counter axes and controlled axes may not be moved simultaneously if collision monitoring is to be effective. In the Positioning with MDI, Program Run – Single Block, Program Run – Full Sequence and smarT.NC machining modes, the counter axes may only be moved at standstill, M strobe, etc., in order to ensure protection by DCM against collisions. The NC axes can then also be moved in the machining modes while being protected against collision. Danger If you position manually-operated counter axes during execution of an NC program or during an individual NC block (during calculation of path interpolations), the new positions of the counter axes cannot be detected or considered by DCM. There is no protection against collisions.
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1.6.5 AFC – Adaptive Feed Control (Software Option #45) With adaptive feed control (AFC), the contouring feed rate is regulated depending on the respective spindle power in percent. This is done with the help of the feed-rate override factor, which is normally determined in the PLC by the setting of the override potentiometer. If AFC is active, then this factor is no longer formed from the potentiometer, but rather from the spindle power and other process data, and the contouring feed rate is calculated. The iTNC then automatically changes the value of the feed-rate override factor, with the goal of maintaining the spindle power at a constant reference value. The main benefit of this process control, along with ensuring the quality of the machining procedure (e.g. detection of cutter breakage or wear), is the optimization of the machining time, which is intended to ensure or improve productivity and efficiency. Changes in the material (harder sections), deviations in oversizes and tool wear lead to the danger of overloading the spindle. AFC can be effective in counteracting this. Benefits of adaptive feed control: Optimizing the machining time: By regulating the feed rate, the attempt is made to maintain the maximum spindle power learned over the entire machining time. The total machining time is reduced by increasing the feed rate in machining zones where less material is being removed. Tool monitoring: The tool life of a tool is increased by reducing the feed rate when the maximum spindle power learned is exceeded, until the time when this reference spindle power is reached again. If it is detected that the maximum spindle power was exceeded and at the same time the minimum feed rate could not be maintained, a programmed switch-off reaction is performed. This avoids subsequent damages due to cutter breakage or wear. Protecting the machine mechanics Damages to the machine due to overload can be avoided by reducing the feed rate ahead of time and with appropriate switch-off reactions. Documentation by capturing and saving the learning and process data. Limitations regarding the use of AFC: AFC cannot be used with analog spindles. AFC cannot be used in volts-per-hertz control mode.
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The following graphic schematically shows the principle of adaptive feed control:
1: Feed rate 2: Air cut 3: Beginning of machining 4: Feed-rate calculation during machining 5: Feed rate calculated by AFC 6: Feed rate programmed in the NC program 7: Cutting depth 8: Workpiece
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Operating states of AFC
The two main operating states of adaptive feed control are Learning and Controlling and Monitoring.
General information about Learning
A learning phase must be completed before AFC can be activated. This learning phase serves to ascertain the corresponding reference power of the spindle PREF for each individual machining step. The learning phase is divided into one or more learning sections. The beginning of a learning section or machining section is defined by the output of M function M03 or M04 (Spindle on right/left) in an NC program after a TOOL CALL has been processed. The end of the cut is defined by the spindle stop (M function M05). The NC macros M3.H, M4.H and M5.H must be assigned to these spindle M functions in the MFUNCT.TAB table. At the beginning of cutting with M3 or M4, the FN17 block FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+1 must be programmed in the M-function macro for starting a cut after the M function. At the end of cutting with M5, the FN17 block FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+0 for ending a cut must be programmed before M5. This way AFC can be used without having to change the existing NC program. The only restriction is that no M-function macros can be executed with active radius compensation. Before calling the macros, the radius compensation must be deactivated, and reactivated after the macro if necessary. The beginning of another section can be defined for the same tool with another call of M03 or M04. In order to exclude a tool from AFC (e.g. touch probe, tap, …), the AFC column must be undefined (empty) in the TOOL.T tool table. Otherwise in this column you must enter the identifier from the global control parameter table AFC.TAB. This identifier selects the control parameter block from the table AFC.TAB. If a cutting data table .CDT exists and is used, the basic control setting in the AFC column of this table is read. This means that the entry in the cutting data table has precedence over the entry in the tool table. The data ascertained during each learning section of the reference machining, especially the maximum spindle power, are saved with a generated cutting number in a table. They form the foundation for the subsequent controlled machining with active AFC. As an alternative to the generated cutting number, the value in NR can be used as the cutting number by programming discrete FN17 cutting blocks. However, the programmer must then ensure that the numbers are entered correctly and sequentially. The learning phase can consist of an entire machining process with multiple tools, but it also can also be stopped after a certain time in which the important parameters for the respective tools have been determined. The learning phase can be ended either manually via a soft key or automatically after a programmed time for the machining step has expired.
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With FN 17: SYSWRITE ID 622 NR0 IDX1.0 = you can transfer a for the time in seconds after which the teach-in cuts are ended automatically. The function behaves like the pressing of the EXIT LEARNING soft key after the appropriate time. This function is deactivated again by programming = 0. At any time during the teach-in cut, you can change the machining feed rate with the feed-rate override potentiometer any way you want, and so influence the ascertained reference load. The file generated in this step is given the name of the selected NC program and receives .AFC.DEP as the file extension. .DEP is appended because this file depends on an existing .H file. E.g. an NC program with the name MACHINING.H results in a file with the name MACHINING.H.AFC.DEP. This file, and the global parameter table AFC.TAB as well, are set up as freely definable tables, and form view is also possible (switch via soft key). However, the format is prescribed and cannot be changed.
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Details of the learning phase: The spindle power is only recorded once the nominal speed has been reached, since the spindle is operated at a constant speed, and acceleration and braking phases are not included in the machining. Saving of the spindle power in air (idle power) in order to later evaluate only the power used during the actual machining process. Detection of entry into the material by the cutter when the idle load is exceeded by 2%. Saving of the maximum value of the spindle power of a learning section as reference for the control. Saving of the machining time of each learning section. Monitoring for stationary spindle or deviation from the nominal speed during active feed not at FMAX. Note Below a certain minimum tool diameter (e.g. 5 mm), in some circumstances it may not make sense to use AFC, since the actual data may become too small for safe control. This can be specified in the tool or cutting data table by leaving the AFC column empty. The entry in the cutting data table makes it possible for the basic setting to depend on the pairing of the tool and workpiece materials. If it becomes necessary in other cases for AFC to abort a machining step, there are two possibilities: • By leaving the AFC column empty in the tool or cutting-data table. • By deactivating AFC via targeted switch-off with FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+0 in the NC program or a corresponding M-function macro. If you use the M-function macros for M3 and M4, then the FN 17 block must follow the call of the M-function macro. This way you end the cut for AFC before machining actually takes place. If the learning process is ended during a learning step, either via the EXIT LEARNING soft key or because the programmed time (FN17 - ID622) has expired, the control immediately begins regulating the feed rate adaptively. The value determined up to that point is used as the spindle reference value, and is entered in .H.AFC.DEP. This is useful if it can be seen that the spindle power will not increase significantly any further in this step.
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General information about Controlling
The maximum spindle power was determined for each learning and machining step. By changing the feed-rate factor within programmable limits (e.g. 70% to 130%), the software continuously attempts to match the momentary spindle power to the reference value during machining. This way the feed rate can be increased for areas where only a small amount of material is being cleared, and a slower feed rate can be used when there is more material than usual or the cutter is becoming dull. This protects the spindle drive and the tool from overload. If a disturbance in the process occurs during machining, a programmable switch-off reaction is performed. This occurs if the feed rate falls below the minimum feed-rate factor (e.g. 70%) at the reference spindle load. You can then assume that the cutter has become dull or has broken. If the feed rate falls below the defined value of 30% of the programmed feed rate, an NC stop is performed. This defined error reaction cannot be influenced, and occurs independently of the programmed overload reaction. Controlling can be switched off and on again via soft key at any point during machining. Controlling is also always switched off if the value set for the override potentiometer is manually reduced by more than 10%. The potentiometer is then effective again instead of AFC. Adaptive feed control must then be switched on again via soft key. A potentiometer value less than or equal to 50% is also always effective, i.e. AFC is inactive then. If the potentiometer value exceeds these 50% while AFC is on, then AFC becomes active again. The maximum spindle power that occurs while under control is ascertained and saved for evaluation later. The machining time of each machining section is also saved. The events AFC ON, AFC OFF, potentiometer manually changed -> AFC OFF are entered in the log of the iTNC. Tasks of AFC in each machining section: Detection of entry into the material by the cutter when the idle load is exceeded by 2%. Regulate to entry speed until a path corresponding to the cutter radius has been cleared, but at most 600 ms. Calculation of the optimum feed-rate factor. Monitoring for overload and switch-off reaction. Saving the maximum value of the spindle power for the evaluation. Detection of exit from the material by the cutter when the power is below the programmed exit load, and regulation to the exit speed until a path corresponding to the cutter radius has been traversed. After detection of traverse in air, regulate to the programmed idle feed rate. AFC is not in effect when machining at rapid traverse, since FMAX is used in the IPO, and at times override for FMAX.
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Automatic selection of the Learning / Controlling status
If an NC program is selected for machining and started, and if AFC is active, then it is first checked whether an associated .AFC.DEP file exists in the same directory as the NC file. If this is the case, then the data in this file are immediately used as control parameters, and machining is performed with adaptive feed control. If this file does not exist, the first machining run is used as the learning phase and the file is created. If the AFC file is determined to be incomplete during machining, the missing steps are automatically performed in the Learning mode, thereby generating the missing data. When Learning is deactivated (M05, manually via soft key, or with FN 17), the learned data are saved and the status of this data block is set to “Controlling.” During Controlling, the data blocks are read in the same sequence they were learned, the step numbers are evaluated and other parameters (tool number, index) are checked to see if they match.
Associated files
Files for machining The following requirements are mandatory for controlling to be activated: An NC program must have been selected (.H). The column AFC must be enabled in the tool table via MP7266.40. If you are working with a .CDT cutting table, then you must create an AFC column and enter any desired control strategy there. If an entry in the cutting data table intersects with an entry in the tool table, the entry in the cutting data table has priority. M-function macro files M3.H, M4.H, M5.H (and possibly more). MFUNCT.TAB macro definition.
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The three files of adaptive feed control: File of the global control parameters: AFC.TAB In the AFC.TAB table, which must be saved in the TNC:\ root directory, you enter the basic control settings with which the TNC is to perform the feed-rate control. The data in this table are default values that are copied during the teach-in cut to the file associated with the respective machining program, where they serve as the basis for controlling. Control parameters for the subsequent standard control strategy are already saved there. Other settings can be programmed as desired. The static control parameters that must be programmed in AFC.TAB for each cutting-data set are: Column
Function
NR
Current line number in the table (has no other function)
AFC
Name of the control strategy. You must enter this name in the AFC column of the tool table. It specifies the association of the control parameters to the tool.
FMIN
Minimum feed rate at which the TNC is to perform an overload reaction if the feed rate falls below this value for one second. Enter the value in percent of the programmed feed rate.
FMAX
Maximum feed rate in the material, to which the TNC may increase automatically. Enter the value in percent of the programmed feed rate.
FIDL
Feed rate at which the TNC should traverse when the tool is not cutting (feed rate in air). Enter the value in percent of the programmed feed rate.
FENT
Feed rate at which the TNC should traverse when the tool enters or exits the material. Enter the value in percent of the programmed feed rate.
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Column
Function
OVLD
Reaction that the iTNC is to perform if an overload occurs: M: Perform an NC-function macro defined by the OEM S: Immediately perform an NC stop F: Perform an NC stop once the tool has retracted E: Only display an error message on the screen –: Do not perform an overload reaction The iTNC performs the overload reaction if during active controlling the maximum spindle power is exceeded for more than one second and at the same time the feed rate is below the minimum you defined.
POUT
Spindle power at which the TNC is to detect an exit from the workpiece. Enter the value in percent of the learned reference load. Recommended value: 8%
SENS
Sensitivity (aggressiveness) of the regulation. A value between 50 and 200 can be entered. 50 is controlling with a slow response, whereas 200 is very aggressive controlling. Aggressive controlling reacts quickly and with large changes in value, but tends to create overshoots. Recommended input value: 100
PLC
The value entered here is written to word W342 at the beginning of a cut. The module cannot be called in the cyclic PLC program. Depending on this, any necessary fine adjustments to the adaptive feed control can be performed from the PLC program.
Example of an AFC.TAB:: NR
AFC
FMIN
FMAX
FIDL
FENT
OVLD
POUT
SENS
PLC
0
Standard
60
140
150
70
-
5
100
0
Proceed as follows to create an AFC.TAB file (only necessary if the file does not already exist):
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8
Select the Programming and Editing operating mode.
8
Select the file manager: Press the PGM MGT key
8
Select the TNC:\ directory
8
Create the new AFC.TAB file and confirm with the ENT key. The TNC displays a list with table formats.
8
Select the AFC.TAB table format and confirm with the ENT key. The TNC creates the table with the Standard control strategy.
HEIDENHAIN Technisches Handbuch iTNC 530
Settings file with the control parameters: .H.AFC.DEP This file is automatically created during the learning phase, and filled with values. It contains all control information for the cuts that occur in the NC program. You can manually change all entries, except TNR and IDX, at any time in order to adapt the control parameters specifically to the NC program. Call the .H.AFC.DEP via the SETTINGS TABLE soft key. It contains the following additional information: Column
Function
NR
Number of the machining section
TOOL
Number or name of the tool with which the machining section was performed (cannot be edited)
IDX
Index of the tool with which the machining section was performed (cannot be edited)
PREF
Reference load of the spindle. The TNC determines the value as a percent of the spindle’s rated power.
N
Code whether a tool number (0) or tool name (1) was programmed in the NC program.
POUT
Exit load of the spindle. The TNC uses the value as a percent of the reference load PREF of the spindle.
ST
Status of the machining step L: (= Learning) A teach-in cut will be performed for this machining cut next time, and the iTNC will overwrite the values already entered in this line. C: (= Controlling) The teach-in cut was performed successfully. The next time it is machined, AFC will control the feed rate. Name of the control strategy used. If the control strategy given in the tool table is not in AFC.TAB, then the entry default is in this column. Default settings are then used for adaptive feed control.
AFC
Example of a .H.AFC.DEP file after a successful teach-in cut: NR
TOOL
IDX
FMIN
FMAX
FIDL
FENT
OVLD
POUT
PREF
SENS
ST
PLC
AFC
0
2
0
60
140
150
70
-
5
64
100
C
0
Standard
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Proceed as follows to select (and edit) the .H.AFC.DEP file. 8
Select the Program Run, Full Sequence operating mode
8
Switch the soft-key row
8
Select the table of AFC settings with the TABLE SETTINGS soft key
8
If necessary, enter any improvements. Edited entries are identified by an * before the name of the control strategy.
Protocol file with the actual data of the control: .H.AFC2.DEP The iTNC stores various pieces of information for each machining step of a teach-in cut in this file. During adaptive control the iTNC updates the data and performs various evaluations. Call the .H.AFC2.DEP file via the EVALUATE TABLE soft key. Column
Function
NR
Number of the machining section
TOOL
Number of the tool with which the machining section was performed (cannot be edited)
IDX
Index of the tool with which the machining section was performed (cannot be edited)
SNOM
Nominal speed of the spindle [rpm]
SDIF
Maximum difference of the spindle speed in % of the nominal speed
LTIME
Machining time for the teach-in cut
CTIME
Machining time for the control cut
TDIFF
Machining time difference between learning and controlling in %
PMAX
Maximum spindle power that occurred during machining. The TNC shows the value as a percent of the spindle’s rated power.
PREF
Reference load of the spindle. The TNC shows the value as a percent of the spindle’s rated power.
OVLD
Reaction that the iTNC performed because of an overload: M: Perform an NC-function macro defined by the OEM S: Immediately perform an NC stop F: Perform an NC stop once the tool has retracted E: Only display an error message on the screen –: Do not perform an overload reaction The iTNC performs the overload reaction if during active controlling the maximum spindle power is exceeded for more than one second and at the same time the feed rate is below the minimum you defined.
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Block number at which the machining cut begins. HEIDENHAIN Technisches Handbuch iTNC 530
Example of a .H.AFC2.DEP file after a cut with active AFC: NR TOOL
IDX SNOM SDIFF LTIME
CTIME
TDIFF PMAX PREF OVLD
0
0
00:00:3 2
20.0
2
100 0
3.5
00:00:4 0
70. 2
64
-
Proceed as follows to select the .H.AFC2.DEP file. 8
Select the Program Run, Full Sequence operating mode
8
Switch the soft-key row
8
Select the table of AFC settings with the SETTINGS TABLE soft key
8
Select the protocol file with the EVALUATE TABLE soft key
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NC-function macro at overload
The entry M in the OVLD column of AFC.TAB can be used to call an NC-function macro for each control strategy as a reaction to an overload. The AFC detects that the spindle load has been exceeded if the actual feed rate is below the value in FMIN for more than one second. No more than one minute after the overload has been detected is the NC macro performed. The path for the NC macro must be entered in the PLC:\ncmacro.sys file via the keyword AFC as follows: AFC = .H e.g.: AFC = PLC:\NC_MACRO\AFC_STOP.H If this entry is not in the ncmacro.sys file or the NC macro does not exist, then the NC program is stopped with the corresponding error message. The FN17 function SYSWRITE ID990 NR11can also be used for the AFC NC macro. It makes it possible to perform a tool change with subsequent positioning. This way replacement tool can be inserted in a tool-change procedure as part of an AFC NC macro. Use the following NC macro for this: 1 2 3 4 5 6 7 8
;Read current tool number: Q1 FN 18: SYSREAD Q1 = ID20 NR1 ;Read maximum tool life of the tool (at TOOL CALL): Q2 FN 18: SYSREAD Q2 = ID50 NR10 IDXQ1 ;Set current tool life of the tool to maximum tool life FN 17: SYSWRITE ID50 NR11 IDXQ1 = Q2 ;Insert the replacement tool using repositioning logic FN 17: SYSWRITE ID990 NR11 = 0
The new FN function FN 17: SYSWRITE ID990 NR11 cannot be used with active radius compensation if the tool change is performed in a change macro. This new FN function works with a tool change only with PLC positioning.
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Default settings for using AFC
Adaptive feed control is a software option (option #45), and must therefore be enabled separately for each machine. The following settings must then be made on the control: Create the TNC:\AFC.TAB file, and define one or more control strategies. Set MP7246 bit 3 so that the .H.AFC.DEP table for control settings can be generated for adaptive feed control. A separate file is created for each NC program in the learning phase. Use MP7266.40 to enable the AFC column in the tool table, or to create the AFC column in a *.CDT cutting data table. Enter the name of the control strategy appropriate for each tool in the AFC column of the tool table or cutting data table. If you do not enter a control strategy for the tool used in the NC program, AFC will not be in effect for this tool. If you are in the AFC column in the tool table, you can use the SELECT AFC CONTROL SETTING soft key to select a control strategy from AFC.TAB. Set the macro execution for the M functions M3, M4, M5 and any other M functions in the PLC:\MFUNCT\MFUNCT.TAB table. Create the M-function macros M3.H, M4.H, M5.H and any others in the PLC:\MFUNCT\ directory. In order to edit FN17, the appropriate code number (555 343) must first be entered. Note The M-function macros cannot be called if radius compensation is active in the NC program. Before calling the macros, radius compensation must be deactivated, and reactivated after the macro if necessary. M-function macros with which M3 or M4 automatically define the beginning of a cut for AFC, and M5 defines the end of a cut: 0 BEGIN PGM M3 MM 1 M3 2 FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+1;after M3 3 END PGM M3 MM 0 BEGIN PGM M4 MM 1 M4 2 FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+1;after M4 3 END PGM M4 MM 0 BEGIN PGM M5 MM 1 FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+0;before M5 2 M5 3 END PGM M5 MM
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Note The M-function macros for M3, M4 and M5 (as listed above) are used to write the control settings for the various cuts sequentially, in the same order as the cuts in the NC program, into the .H.AFC.DEP file. You cannot use these M-function macros to assign a permanent number to the individual cutting data blocks. This means that you cannot use the Program Run, Single Block operating mode to perform a teach-in cut for just a single cut. You must always run the entire NC program so that AFC can update the correct lines in .H.AFC.DEP. However, the FN 17:SYSWRITE ID 622 function offers you the possibility of numbering all the cuts of an NC program, making a permanent assignment possible. This is considered in the Program Run, Single Block operating mode, and you can retroactively carry out the learning process for individual cuts. You must deactivate the execution of the given M-function macros for this. The definition of the beginning and end of a cut via the FN 17:SYSWRITE ID 622 function must then occur separately for each cut in the NC program. Note You cannot use just any numbers when numbering the cuts in the NC program. The beginning of the first cut must be started after M3 or M4 with FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+1 and be ended before M5 with FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+0. NR must be incremented for each further cut. Targeted access to individual cutting data blocks is only possible with sequential numbering.
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Initial learning and controlling with AFC
After you have entered the settings described above, proceed as follows to carry out a learning phase for an NC program: 8
In the Program Run, Full Sequence operating mode, load the NC program for which the learning procedure is to be carried out, e.g.
8
Activate AFC with the ADAPTIVE FEED CONTROL and FEED CONTROL ON soft keys. This creates and displays the table of control settings.
8
Start the NC program.
8
The learning procedure is performed automatically for each individual machining cut. Note You do not have to run the entire machining step in the learning mode. If the cutting conditions do not change significantly, you can switch to the control mode immediately. Press the EXIT LEARNING soft key, and the status changes from L to C. At any time during the teach-in cut, you can change the machining feed rate with the feed-rate override potentiometer any way you want, and so influence the ascertained reference load. You can repeat a teach-in cut as often as you want to. Manually change the status from ST back to L. It can be necessary to repeat a teach-in cut if the programmed feed rate was much too high, and you had to turn the feedrate override way back during the machining step. You can teach any number of machining steps for a tool. A machining step always starts with M3 or M4, and ends with M5. For machining steps in which the tool remains the same, but it appears useful to define multiple steps for AFC, you can program another M3 or M4. Each M3 or M4 defines the beginning of a new cut.
8
All control settings for the individual cuts of an NC program are saved as a table in the .H.AFC.DEP file (SETTINGS TABLE soft key), where they are used for future machining. The status of each cutting data block changes from L (learning) to C (controlling) after a successful teach-in cut.
8
The data determined in the learning phase is saved in the .H.AFC2.DEP file (EVALUATION TABLE soft key).
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Once the NC program has been run, the learning procedure is finished for adaptive feed control. The status in the .H.AFC.DEP file (SETTINGS TABLE soft key) must have switched from L (learning) to C (controlling) for each cut. This way a valid settings file exists for adaptive feed control. As long as the status is not set to L (learning) and adaptive feed control has been activated with the AFC ON soft key, the NC program is run with AFC.
Activating/ deactivating AFC
8
If you start the NC program again, the feed-rate override is changed by the adaptive feed control. The control tries to maintain the spindle power as constantly as possible at the reference value PREF of the spindle power.
8
The data in the .H.AFC2.DEP file (EVALUATION TABLE soft key) determined in the learning phase is compared with the values from machining with AFC.
Proceed as follows to activate or deactivate adaptive feed control: 8
Select the Program Run, Full Sequence operating mode
8
Switch the soft-key row
8
Activate adaptive feed control: Set the AFC soft key to ON
8
Deactivate adaptive feed control: Set the AFC soft key to OFF Note If adaptive feed control is active, the TNC assumes the functions of the feed-rate override. If you reduce the feed-rate override by more than 10% of the current setting, then the TNC switches AFC off. In this case the TNC displays a window, which you can acknowledge with the CE key. If you set the feed-rate override to less than 50%, the value of the override potentiometer takes effect. However, AFC is not automatically switched off here. If the value of the override potentiometer later exceeds the 50% again, AFC assumes control again. The TNC shows various pieces of information in the additional status display when adaptive feed control is active.
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1.6.6 TNCguide – Context-Sensitive Help System for the iTNC 530 (User Documentation) (FCL 3 function) The help system was integrated on the basis of the CHM help format known from Windows. The CHM format was introduced by Microsoft in 1997 with the HTML help system, and is now used by many Windows programs. It is a collection of individual HTML files that are collected in a single compressed file. Mozilla Firefox is used as the browser on the single-processor version of the iTNC 530. The dual-processor version of the iTNC 530 and the iTNC 530 programming station use Internet Explorer or the standard browser configured for your PC. In principle, the iTNC 530 will be able to open and display any CHM files, including those prepared by the OEM. HEIDENHAIN will generally supply the following documentation in the form of CHM files together with the iTNC software: User’s Manual for Conversational Programming User’s Manual for Touch Probe Cycles smarT.NC Pilot Collection of all NC error messages The User’s Manual for the programming station is also supplied with the iTNC 530 programming station. Context-sensitive entry points are defined for these files, meaning that pressing the HELP key brings the user directly to the appropriate location in the documentation. If no context-sensitive entry point is available, the TNC opens the parent main.chm book file, in which all CHM files in the respective (language-sensitive) help directory are shown. The user navigates to the desired entry with the mouse or the arrow keys. TNCguide can also be opened with the mouse: after clicking the help symbol, shown to the right directly above the soft-key row, the mouse pointer changes to a question mark. If the user then clicks a soft key, the TNC starts the help system and displays the description of this soft key, if a context-sensitive entry point exists. If no context-sensitive entry point is available, the control opens the parent main.chm book file, as described above.
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Basic conditions for the OEM
So that CHM files created by OEMs can be shown in the main.chm book file, the conditions listed below must be followed: The OEMx.CHM files must be stored in the TNC:\tncguide\de directory, or in TNC:\tncguide\en, etc. When the dialog language is switched (with MP7230), the iTNC searches the corresponding language subdirectory when the help system is called. HEIDENHAIN recommends placing an OEMx.CHM file in English in each language subdirectory if you don’t translate your documentation into every language. This ensures that online help is available for all topics, regardless of the language settings on the control (MP7230). If no OEMx.CHM file exists in the language subdirectory, no OEM-specific help is shown when the online help is called. HEIDENHAIN has already defined the names for the CHM files created by the OEM, so that these files can be displayed as books (if they exist) within the parent main.chm book file: Name of the CHM file
Help-number range from
to
OEM1.chm
10 000 000
10 999 999
OEM2.chm
11 000 000
11 999 999
OEM3.chm
12 000 000
12 999 999
OEM4.chm
13 000 000
13 999 999
OEM5.chm
14 000 000
14 999 999
OEM6.chm
15 000 000
15 999 999
OEM7.chm
16 000 000
16 999 999
OEM8.chm
17 000 000
17 999 999
OEM9.chm
18 000 000
18 999 999
OEM10.chm
19 000 000
19 999 999
The help-number range shows the context-sensitive entry points that are permanently defined for each file in order to simplify entry via the parent main.chm book file. The following links contain useful information about HTML help as well as software for downloading: http://msdn.microsoft.com/library/en-us/htmlhelp/html/vsconHH1Start.asp http://www.helpware.net/ HEIDENHAIN recommends using Mozilla Firefox 1.0.x to check how the HTML pages are displayed, since it is used on the control. The view differs somewhat from the view in Internet Explorer, especially regarding the page layout. However, this does not replace a thorough test of the CHM file on the control.
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Using PLC modules to call CHM files created by the OEM: PLC Module 9391 is introduced, with which a PLC error message is displayed, and in addition an offset is added to the value of the error number (= ONL Number) in the .PET table in order to generate the actual help number. This way a group error number can be defined for an (OEM) device in the .PET table, and the error number (used as an offset) supplied by the device in case of error then leads to the appropriate help text. This requires an OEM-specific *.CHM file, which must be indicated in the .PET table (= ONL Name). Additionally, PLC Module 9390 is also introduced, with which a help window can be opened directly by the PLC. Every possible way of calling your OEM help file offers you the possibility of showing the entire directory (including HEIDENHAIN help files) in the directory tree, or just the directory of your OEM help file. This selection is made when calling the help file. If you enter main.chm as the help file in the call (via PLC module, *.PET file, soft key or NC error), then the entire directory is shown. If you enter your OEM help file OEMx.CHM as help file in the call, then only the directory of your help file is shown. Files and structure of the help system
All online help available on a control can be called separately as well as within the online help system. In order for the call within the entire system to function, the conditions described below must be followed: The help system is structured as follows: main.chm – Welcome page of the help system • • • • • • •
jh1.chm jh2.chm ... oem1.chm oem2.chm oem3.chm ...
The HTML pages of the individual online help topics exist completely independently of each other. Special entries combine the tables of contents and collate the index entries (see below). Contents The table of contents of main.chm contains “merge” objects:
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HEIDENHAIN has specified here the name of the CHM file and the file name merged.hhc of the table of contents contained therein. When the welcome page of the help system (main.chm) is called, all existing help files linked with merge commands are included. Each table of contents is only displayed if it exists in a file named merged.hhc. This is why it is essential that you include the directory structure of your help as merged.hhc when your generate your OEMx.CHM files. The first level of this table of contents should have exactly one entry: the title of the help file. This title than appears as a “book” in the entire table of contents, and can be opened by the user in order to show the subordinate headings. Along with the actual HTML pages, the following files must be included when generating the OEMx.CHM files: *.hhc file In this file you describe the structure and format of your help system. If you call your help file via main.chm, then this file must be named merged.hhc. If your help file is to be called directly, without main.chm, then the directory tree in the *.hhc file that you indicated as content file when you created the CHM file is used. *.hhk file In this file you list all entries that are to be shown in the index later, and create the links to the corresponding HTML pages. At least one entry is necessary here in order for your help file to be displayed. *.hhp file This file is the project file that is necessary for generating an OEMx.CHM file. *.h file (only necessary for context-sensitive help) In this file you use the #define command to establish connections between error numbers, from the respectively valid ranges of error numbers, and any variables. Example: #define IDH_OEM1_CHAP1 10000000 #define IDH_OEM1_Page1_1 10000100 *.txt file (only necessary for context-sensitive help) In this file you establish the connection between the variables and the corresponding HTML pages, which are then called. Example: IDH_OEM1_CHAP1=chapter1.html IDH_OEM1_Page1_1=page11.html
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HEIDENHAIN Technisches Handbuch iTNC 530
INDEX Note: “Merging” of the indexes only functions if each file involved contains at least one index entry, meaning at least one index entry is also necessary for the OEM help file. In addition, the entry “Binary Index=Yes” must be set in the project file (*.hhp). The project file of main.chm contains the following entries: [MERGE FILES] • • • • • • •
jh1.chm jh2.chm ... oem1.chm oem2.chm oem3.chm ...
This collates and displays the index entries of all present and named help files when the index of main.chm is called. Context-sensitive call In a context-sensitive call of the OEM help, the index display starts from the OEM help, and here the index entries can only be collated if all other help files *except* the current OEM file itself are entered in the project file of the OEM help. HEIDENHAIN makes a complete list of the file names available. Summary for OEM help Project file: Binary Index=Yes Project file: [MERGE FILES] with current list *except* its own file name! Table of contents: “merged.hhc” – Title of the help, can be opened as a “book.” Index: At least one index entry.
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Designing soft keys for contextsensitive help
In order to establish context sensitivity in combination with soft keys, the additional HELPID and HELPFILE soft keys must be entered in the descriptions of the soft keys. Use HELPID to assign to a soft key an ID (= error number) from the respectively valid range of error numbers. With the HELPFILE attribute you indicate in which *.chm file the error number can be found (e.g. OEM1.chm) or via which file the error number is to be searched for (e.g. main.chm). The assigned error number, in combination with the *.txt and *.h files, is used to call the appropriate HTML page when the help is called. If you enter main.chm as the HELPFILE, the entire directory structure with the HEIDENHAIN help files is shown. If you enter only one file (e.g. OEM1.CHM), then only the directory of this file is shown. The OEMx.CHM files must be stored in the TNC:\tncguide\de or TNC:\tncguide\en, etc, directories. When the dialog language is switched (with MP7230), the iTNC searches the corresponding language subdirectory when the help system is called. You can enter HELPFILE for each soft key, or once for all soft keys. Example: PLC SOFTKEY Project File - Version 1.0 ; Path for the soft-key help file HELPFILE 'TNC:\tncguide\de\oem1.chm' ... ; here the assignment of a HELPID to the soft keys without ; indication of a *.chm file. This automatically links to the ; help file named above. ACTION Action2_Softkey HELPID:10000000 PULSE
Pulse1_Softkey
HELPID:10000100
BLANK ENDSKMENU or: PLC SOFTKEY Project File - Version 1.0 ... ; here the assignment of a HELPID and a HELPFILE to ; the soft keys. This automatically links to the ; help file entered. ACTION Action2_Softkey HELPID:10000000 HELPFILE:TNC:\tncguide\de\oem1.chm PULSE Pulse1_Softkey HELPID:10000100 HELPFILE:TNC:\tncguide\de\eoem1.chm BLANK ENDSKMENU
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HEIDENHAIN Technisches Handbuch iTNC 530
Enhanced error notification
PLC error messages For each entry (i.e. error message) in the PET file, the machine manufacturer can enter the name of a help file (*.CHM) and a help number within this *.CHM file. This is done with the two new columns in the PET table, ONL Name and ONL Number. The called help files must—as mentioned earlier— be present and language-sensitive in the TNC:\tncguide\de, TNC:\tncguide\en, etc. directories. When a PLC error message is current and the user then presses the ERR key and the HEIDENHAIN TNCguide soft key, the appropriate chapter from this file is shown (context-sensitive call). If a help number but no *.CHM file is indicated, the main.chm file is automatically shown. If the OEM has adhered to the permanently defined help-number ranges for the respective files (see above for the help-number ranges), then the correct, context-sensitive help page is shown in this case as well. NC error messages The machine manufacturer has the possibility of calling his own additional error descriptions for NC errors. This is also done with a separate CHM file. With the OEMERRORCHM.FILE and OEMERRORCHM.OFFSET entries in OEM.SYS, context-sensitive links to any page in the OEM file can be created. Under OEMERRORCHM.FILE you must enter the *.CHM file in which the error number is to be searched. If main.chm is entered under OEMERRORCHM.FILE, the error number is searched for from there and the entire directory tree of main.chm is displayed. If the error number is not found, the start page of main.chm is shown. Under OEMERRORCHM.OFFSET you must enter an error number that is used as an offset. The number of the NC error is added to the number entered here. The resulting error number is then searched for. Example: OEMERRORCHM.FILE = main.chm OEMERRORCHM.OFFSET = 10000000 If, for example, the NC error message Key nonfunctional is shown (NC error number 938), the resulting error number = 10000938. If you press the ERR key now, two soft keys are offered. If you press the HEIDENHAIN TNCguide soft key, the HEIDENHAIN error description appears. If you press the MACHINE MANUFACTURER soft key, the resulting error number (e.g. 10000938) is searched for in the given CHM file. The appropriate page is opened if the error number exists, otherwise the start page of the given file opens. The help files to be called must—as mentioned earlier— be present and language-sensitive in the TNC:\tncguide\de, TNC:\tncguide\en, etc. directories. The MACHINE MANUFACTURER soft key is only displayed if one of the two entries named exists in OEM.SYS.
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Including an OEM-specific online help file
National languages
Once you have created a valid *.chm file, proceed as follows in order to display your own OEM-specific help file in the HEIDENHAIN TNCguide: 8
You may need to rename your *.chm file. You must use one of the names reserved by HEIDENHAIN for OEM help files. e.g. OEM1.CHM
8
Use TNCremo to transfer the help file to the control.
8
Store your help file in the appropriate language directory: TNC:\tncguide\de, TNC:\tncguide\en, etc. If you have created only an English help file, HEIDENHAIN recommends placing it in the other language directories as well.
8
Press the HELP key to call the TNCguide. Your help file should now automatically be included in the TNCguide directory tree.
CHM files will not be available for all possible TNC dialog languages at the time the NC software is released. We are planning on delivering the German and English languages with the software, and the CHM files in other languages will be made available for free downloading (for unregistered users as well, of course) from our FileBase. The user then simply downloads the appropriate file(s) for the respective language(s), and stores them in the directory defined by us on the TNC hard disk: TNC:\tncguide\de or the appropriate language subdirectory. A readme.a file is located in the respective language directories on the TNC hard disk under TNC:\tncguide\. This file describes the procedure for loading the CHM files from our FileBase. The following link leads directly to the CHM files on the FileBase: http://filebase.heidenhain.de/public/?open[]=179&open[]=92&open[]=177&o pen[]=178#GROUP179
Online help files and TNCremoNT
Starting in November, a new version of TNCremoNT will be available from HEIDENHAIN. It has been optimized for handling the online help files (file extension .chm) of NC software version 340 49x 03. Transfer of *.chm files: Online help files are binary files. If TNCremoNT is updated to version 2.5, the file extension .chm is automatically added to the list of binary file types. Otherwise the list of binary file types must be amended manually under Extras > Configuration on the Mode tab in order to transfer them correctly. Performing a backup of the TNC via TNCremoNT: Online help files are automatically untagged during creation of the scan list used for the backup. This also applies to CHM files desposited on the control be the OEM. Reason: The *.chm files saved on the control require a large amount of memory, and do not need to be backed up, since they are freely available from the HEIDENHAIN homepage. By the way: This setting can be applied to other file types as well in TNCbackup under Edit > Settings.
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HEIDENHAIN Technisches Handbuch iTNC 530
1.7 Hardware 1.7.1 TE 535P General information
The new operating panel corresponds to the TE 530B with machine operating keys.
Technical characteristics: NC operating panel: Same as TE 530B Machine operating panel: 6 axis-direction keys 12 function keys Keys for spindle start and spindle stop All keys in the machine operating panel are snap-on keys. EMERGENCY STOP button Key for control voltage ON (RAFI key) Two bore holes for additional RAFI buttons (shipped blocked with a cover) or key switches. Optional: Three-stage key switch for selecting the operating mode (ID 238 495-02)
ID 547 577-xx
September 2006
TE 535P
Hardware
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Connection overview
X3 / X10:
X3 D-sub, 37-pin male Pin no.
PLC input
Key symbol
X10 D-sub, 37-pin male Pin no.
PLC input
Key symbol
1
I128
X–
1
Free
VI+
2
I129
Y–
2
Free
Chip conveyor on
3
I130
Z–
3
Free
Spindle on
4
I131
IV –
4
Free
Coolant on
5
I132
Page through form
5
Free
Internal cooling on
6
I133
X+
6
Free
FN1
7
I134
Y+
7
Free
FN2
8
I135
Z+
8
Free
FN3
9
I136
IV +
9
Free
Release
10
I137
VI –
10
Free
No function
11
I138
VI+
11
–
Not assigned
12
I139
Spindle right
12
–
Not assigned
13
I140
Tool change
13
Free
VI –
14
I141
Flush water on
14
–
Not assigned
15
I142
Retract axis
15
–
Not assigned
16
I143
Spindle start
17
I144
Chip conveyor direction
18
I145
Chip conveyor on
19
I146
NC start
20
I147
NC stop
21
I148
Rapid traverse
22
I149
V–
23
I150
Spindle stop
24
I151
V+
25
I152
Retract tool
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HEIDENHAIN Technisches Handbuch iTNC 530
Some machine keys are transmitted via connector X10 of the machine operating panel. These signals must be processed by the PLC via PLC inputs on connector X42 of the MC 4xx. Key assignment for machine operating panel S1
S2
S3
S4
S5
S7
S8
S9
S10
S14
S15
S16
S17
S18
S20
S21
S22
S23
S27
S28
S29
S30
S31
S33
S34
S35
S11
S36
S12
S38
S39
Dimensions 59 +10
400 12
45 +10
8
376±0.2
354±0.2
370
0
M5
2 16 . ¬
17.9
1.7
302
10.4
¬ 5.5
1
¬ 10
366.25
8 +1 0
330.5
¬2
4
354 +10
f
354±0.2
M5 11x45°
m
376±0.2 +1 f 384 0
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Hardware
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1.7.2 PLB 511/PLB 512 PLC basic modules
The PLB 511 and PLB 512 PLC basic modules have been available since March 2006. The PLD 16-8 and PLA 4-4 PLC modules can be used as input and output modules.
PLB 511 with 6 slots
ID 556 941-01
PLB 511
PLB 512 with 8 slots
ID 557 125-01
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PL 512
HEIDENHAIN Technisches Handbuch iTNC 530
Commissioning and configuration
The new PLB 511 and PLB 512 basic modules can be used immediately, without updating the control software, and also in combination with the PLB 510. A mixed configuration of the basic modules is possible. The same cable is used for the connection as for the PLB 510. The configuration and interrogation within the PLC is performed as with the PLB 510. The following basic conditions must be taken into consideration: The control always and only detects PLB basic modules with 4 slots. A PLB 511 and a PLB 512 are each always interpreted as two PLBs with 4 slots each. As before, a maximum of 16 PLC I/O modules (slots), distributed over all PLBs used, can be addressed. Due to the fixed addressing in blocks of 4 slots, the non-existent slots 7 and 8 on a PLB 511 with 6 slots are wasted (see the example for two PLBs with 6 slots). In compatible mode, only the digital inputs/outputs of slots 1 to 4 function on a PLB 512. The digital inputs/outputs of slots 5 to 8, analog inputs and status information cannot be used. The sum of all logically existing PLs must be less than or equal to four PLs. In addition, the following must be considered for controlling from a PLC program: In order to use PLB 511 or PLB 512 completely, the corresponding PLC modules must be called for two PLs in each case. Slots 5 to 8 cannot be addressed. Here a recalculation to another basic module and slots 1 to 4 must occur. A PLB 511 presents the non-existing slots 7 and 8 as “empty.”
Using PLC Modules
Module 9007 – Diagnostic information Diagnostic information 3 (number of connected PLs) supplies two modules per PLB 511 or PLB 512. Module 9002, 9005, 9008, 9009 – Read PL inputs/Set PL outputs These modules must each be called twice for each PLB 511 or PLB 512. Module 9137, 9138 – Read diagnosis/Read analog inputs These modules address the required information in the following format: “Basic-module number/slot/number of the information.” Here the slots 5 to 6 (PLB 511) or slots 5 to 8 (PLB 512) must be recalculated to another basic module and to slots 1 to 2 or 1 to 4 respectively.
September 2006
Hardware
1 – 103
Using address ranges
Address ranges when using four PLB 510 modules with 4 slots each:
Address ranges when using two PLB 511 or PLB 512 modules:
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HEIDENHAIN Technisches Handbuch iTNC 530
Examples of possible combinations:
September 2006
Hardware
1 – 105
Examples of combinations that are not possible:
A combination of PL 410 and PLB 511 or PLB 512 is not possible:
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HEIDENHAIN Technisches Handbuch iTNC 530
Example
This example uses the following system. It is assumed that the number of the logical PL corresponds to its physical position.
The following picture shows what the control “sees”:
PLC Module 9007 supplies the value 4 for the “Number of connected PLs.”
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Hardware
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The digital inputs are read as follows from the PLC program: K+0
CM
9002
PS
K+1
CM
9002
PS
K+2
CM
9002
PS
K+3
CM
9002
* First PLB510, I64..I127
PS
* PLB512 (1st to 4th slot), I192..I255
* PLB512 (5th to 8th slot), I256..I319
* Second PLB510, I320..I383
Or realization via loop programming (principle depiction): PS
K+0
PS
K+3
CM
9007
PL
DG_blockNumber
* Number of connected PLs
WHILET PS
block
CM
9002
INC block ENDW
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HEIDENHAIN Technisches Handbuch iTNC 530
The analog inputs can be read out from the PLC program as follows (assuming that both PLB 510s have analog modules in their first slots, and the PLB 512 has them in the 4th and 8th slots) The third analog input is read in each case.
September 2006
PS
K+0
* Number of the central module
PS
K+3
* Number of slots 0..3
PS
K+2
* Analog inputs from 0 to 7
CM
9138
PL
DG_Analog_PL510_1_Slot4_AE3
* Analog value
PS
K+1
* Number of the central module
PS
K+3
* Number of slots 0..3
PS
K+2
* Analog inputs from 0 to 7
CM
9138
PL
DG_Analog_PL512_Slot4_AE3
* Analog value
* * *
The following program section would be incorrect since slot 7 doesn’t exist for the control. Slots 4 to 8 are seen as a separate PL. The addressing must be adapted to the PLB 510.
*
PS
K+1
* Number of the central module
*
PS
K+7
* Number of slots 0..3
*
PS
K+2
* Analog inputs from 0 to 7
*
CM
9138
*
PL
DG_Analog_PL512_Slot4_AE3
* *
Slots 4 to 8 of the PLB 512 can be accessed with this program section.
* Analog value
PS
K+2
* Number of the central module
PS
K+3
* Number of slots 0..3
PS
K+2
* Analog inputs from 0 to 7
CM
9138
PL
DG_Analog_PL512_Slot4_AE3
* Analog value
PS
K+3
* Number of the central module
PS
K+3
* Number of slots 0..3
PS
K+2
* Analog inputs from 0 to 7
CM
9138
PL
DG_Analog_PL510_4_Slot4_AE3
Hardware
* Analog value
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Dimensions 148
51
132 3.25
PL 510/550: 139, PL 511: 183, PL 512: 227 95
X2
135
X1
X3
78
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HEIDENHAIN Technisches Handbuch iTNC 530
1.7.3 CML 110 Capacitor Module General information
The CML 110 (Capacitor Module Low Voltage) for realizing the LIFTOFF function in case of a powerfail has been available for the iTNC 530 with CC 424 since April 2006. The LIFTOFF function can protect workpieces and tools from damage. If the LIFTOFF function is activated (please see the iTNC 530 Technical Manual), the iTNC 530 attempts to use the energy remaining in the dc-link to lift the tool off of the workpiece in the case of a powerfail. In this case, the various enablings for operating the control system must be maintained during the LIFTOFF. The CML 110 ensures the 24-V supply for this.
CML 110 capacitor module for 24-V power supply Specifications Power supply:
24 V
Capacity:
5.0 F
Max. charging current:
2.4 A
Inner resistor (discharge) maximum: typical:
156 mOhm 65 mOhm
Discharge current is not limited. ID 574 087-01 CML 110 Danger Before service or maintenance work, you must ensure that the CML 110 has been completely discharged. Connection
September 2006
The CML 110 capacitor module is connected via X1 parallel to the 24-V power supply (++/- -).
Hardware
1 – 111
Utilizability
Calculating the utilizability of the CML 110: A successful LIFTOFF mainly depends on sufficient energy being available in the dc-link of the inverter system. Generally it suffices if the energy in the dclink is available for the duration of one second. The 24 V supply must also be ensured for precisely this time. The following formula can be used to check this: t = RL x C x In (UO/UC) where: t = time until UC is reached RL = ohmic load of the consumers C = capacity of the CML (for CML 110 = 5.0 F) ln = natural logarithm UO = output load of the power supply unit with which the CML is operated UC = lowest voltage at which the consumers still fulfill their function Example: During operation, the triggering of the control components requires a total current of 10 A at 24 V. This is equivalent to an ohmic load of 2.4 Ohm. In addition, the voltage for the 24-V components may not sink below 18 V (e.g. switching voltage of the contactors), for example. This means: t = 2.4 Ohm x 5.0 F x ln(24 V/18 V) t = 3.45 s If the line voltage fails, then in the best case the voltage will not fall below 18 V until 3.45 seconds have passed. This is significantly longer than 1 second, and so the CML 110 is suitable for LIFTOFF here. If the capacity of the CML 110 should not suffice, then you can also switch more than one CML 110 in parallel. However, here you must note that a maximum charging current of 2.4 A per CML 110 is to be expected at switchon. The full power of the 24-V power supply unit can only be used once all CMLs have finished charging.
Dimensions
102.5
1 – 112
14.9
4
55
Hutschiene 35 mm EN 50 022 Mounting rail 35 mm EN 50 022
106.5
135 +20
125
2
HEIDENHAIN Technisches Handbuch iTNC 530
1.7.4 USB Hub General information
A USB hub for integration in the control operating panel will be available as of October 2006. The touch pads of TE 530B and TE 535 P and other USB units can be connected to this hub. A 24-V power supply is needed for the USB hub. The hub can be installed in the operating panel in such a way that the USB sockets X141 and X142 can be accessed from outside the operating panel. You can protect these sockets against splash water with the optional cover cap (Id. Nr. 508 921-01). The cover is secured with a double-sided adhesive tape (shaped part that is included) and adjusted using adjustment pins. The positions of the holes necessary for the adjustment pins and the cutout for X141/X142 in the operating panel can be seen in the dimension drawing.
USB hub for integration in the operating panel Specifications Supply voltage: 24 V Inputs: X1 – Power supply 24 V / max. 300 mA (as per IEC 742/VDE0551) X140 – USB-B input USB-A output on rear: X141, X142 USB-A output on front: X143, X144 Maximum load capacity of the outputs: 2 x 100 mA, 2 x 500 mA, any distribution ID 582 884-01 USB hub Cover cap (IP 52)
ID 508 921-01 Cover cap
September 2006
Hardware
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Connection overview
1: USB connecting cable 354 770-xx. For lengths starting from 12 m, a USB connecting cable with amplifiers (365 499-xx) must be used. 2: USB connecting cable 354 770-xx. Connection to X143 or X144. The other connection remains vacant. 3: Optional cover cap as protection against splash water 508 921-01 4: USB memory stick, USB cable, etc. to external devices (for any uses) 5: Operating panel
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HEIDENHAIN Technisches Handbuch iTNC 530
Dimensions
17.5
40
28
M3
Zubehör Abdeckung Accessory cover
50
109
80
100±0.2 A
70±0.2
m
¬ 3.4
50±0.2
¬ 3.5 19
17.5
37
30±0.2
68
¬ 2.5
93.2 A
180° 42 60±0.2
m = Montageauschnitt Mounting hole
September 2006
Hardware
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HEIDENHAIN Technisches Handbuch iTNC 530
1 Update Information No. 17 1.1 Overview 1.1.1 Released Service Packs The following service packs were released for 340 422-14 and 340 423-14: Service pack 1:
June 2006
Service pack 2:
October 2006
The following service packs were released for 340 480-14 and 340 481-14: Service pack 1:
June 2006
Service pack 2:
October 2006
The following service packs were released for 340 490-03 and 340 491-03: Service pack 1:
November 2006
The following service packs were released for 340 492-03 and 340 493-03: Service pack 1:
November 2006
1.1.2 Released NC Software The following versions of the NC software were released:
November 2006
NC software 340 490-03 and 340 491-03
September 2006
NC software 340 492-03 and 340 493-03
September 2006
Overview
1–1
1.2 NC Software 340 49x-03 Service Pack 1 1.2.1 Important Notes PLC positioning with active collision monitoring (DCM) As of software version 340 49x-03, when DCM is active PLC positioning commands will not be executed until all axes have traversed the reference points. The NC will issue the error message "DCM: Traverse reference points." Since a considerable time, it has been possible to define the PLC basic program (by using configuration parameters) so that, subsequent to the reference run, an axis is automatically moved to a defined position by means of a PLC positioning command (e.g. rotary axis to 0°, Z axis to clearance height). Also, you can configure all axes to traverse the reference points in the defined sequence (standard setting) upon NC start. The PLC automatically generates an NC start for this purpose. The context described above has the following consequences: • PLC positioning movements are no longer possible in the reference run mode when DCM is active. • There is a danger of collision because on the one hand the PLC does not check the PLC positioning movements for correct execution, and on the other the automatic NC start prevents the machine operator from seeing the NC error message. But in spite of this, the reference run for the next axis starts automatically. Solution: • HEIDENHAIN has released the Service Pack 01, which allows you to define the PLC module 9221 so that collision monitoring is set inactive for a PLC positioning movement in a specific axis. • HEIDENHAIN provides a new PLC program ("Basis_53") on the filebase, which monitors the PLC positioning movement for complete execution and informs the machine operator about a possible collision at the respective position. The error message "Warning! DCM not yet active, permit positioning of axis ?“ must be acknowledged by the machine operator by pressing NC start in order to start the PLC positioning movement (e. g. rotary axis to 0°, Z axis to clearance height). To prevent the danger of a collision, the machine operator must check the current axis positions. The process can be interrupted at the respective position by pressing the NC stop key or an axis-direction key. The reference run can then only be continued manually by pressing the axis-direction keys.
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HEIDENHAIN Technical Manual iTNC 530
If you are using software version 340 49x-03, the following problem can occur with a PGM call: With long programs that contain a PGM CALL after block 65 535, it can occasionally happen that the called program is not executed completely. Please supply machines with iTNC 530 and software version 03 only with Service Pack 1 and take care that machines in the field with software version 03 are updated with Service Pack 1. If you need assistance, please contact the HEIDENHAIN service department. Unjustified error messages with EnDat encoders Until December 2005, a protocol was used in the EQN 1325 and ECN 1313 EnDat encoders that caused the unjustified "EnDat defective ..." error message if the encoder was connected to a CC 422 with a certain version of the control software. This error message always occurs when the control is booted. This can lead to problems with the software versions currently in use if an exchange motor featuring such an EnDat rotary encoder is installed. If the "EnDat defective ... " error message appears when exchanging a motor with an EnDat encoder on a CC 422, HEIDENHAIN recommends updating the control software to one of the versions listed below. You can determine in advance if a motor with EnDat encoder can be used by checking if the serial number of the encoder (not the motor) has the index "A." You must remove the motor’s encoder cover in order to read it. If an unusable encoder is mounted in the motor, it must be exchanged; or the corresponding, operational software version listed below must be installed when mounting the motor on the control.
November 2006
Affected software
Corrected as of software
340 49x-01 (all SPs) Up to and including 340 49x-02 SP 2
340 49x-02 SP 3
Up to 340 422/23-12 including SP 3
340 422/23-12 SP 4
Up to 340 480/81-12 including SP 3
340 480/81-12 SP 4
340 420/21-xx
No error correction planned, update to version 340 422/23 necessary
NC Software 340 49x-03 Service Pack 1
1–3
1.2.2 Description of the New Functions Machine parameters
MP 2206.x – Overwrite “Type of encoder” from the motor table On a CC 424 the input value 4 can now be entered in MP 2206.x (linear motor with one reference mark). The commutation angle must not be determined by using the current controller window. It is determined automatically when the drive is switched on (MP2254.x = 0). When the reference mark is traversed for the first time, it is saved in MP 2256.x.
PLC modules
Module 9170 Finding the current torque (expanded) Unlike the description in the Technical Manual, the PLC module 9170 up until now gave the current nominal torque value in percent instead of tenth of percent when Mode 0 was active. Module 9170 now allows you to read the current torque value in percent (Mode 0) or tenth of percent (Mode 1). • = 0: Torque value in percent of the nominal torque • = 1: Torque value in tenth of percent of the nominal torque Module 9221 PLC positioning (expanded) With module 9221, you can now deactivate collision monitoring for a specific PLC positioning movement. This means that it is also possible to position an axis when DCM is active and the reference marks have not yet been traversed in all axes. In Module 9221, bit 3 is now available for : • Bit 3 = 0: Behavior as before (collision monitoring is active) • Bit 3 = 1: Collision monitoring is deactivated A PLC positioning command can only be executed if collision monitoring is deactivated for all axes involved in the positioning movement. The deactivation of collision monitoring for the PLC positioning movement does not affect the status information provided by Module 9064. Module 9312 Change machine parameters in the current machine-parameter file (modified) Module 9312 is used to dynamically overwrite the values of the machine parameters in the active machine-parameter file and the DSP process memory, or only in the DSP process memory. For machine parameters defined as numerical values, the new value can also be programmed as a string. Conditions: For numbers the values must be returned as an integer. The decimal point is shifted by the number of possible decimal places. For example, if MP910.0 is to be set to 100.12 mm, then the transferred must be = 1001200. (4 possible decimal places lead to a multiplication by 10 000). For non-indexed machine parameters, zero must be programmed as the index. Once the NC program has started, the module operates only during the output of M/G/S/T/T2/Q change signals. Depending on the changed machine parameter’s type, the geometry is reinitialized. Not every MP can be changed by the PLC.
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HEIDENHAIN Technical Manual iTNC 530
If a new value for a machine parameter defined as a numerical value is programmed as a string, the value is converted to the decimal system (even if the new value is programmed in the "$0004" or "%0000011111" format, for example). If the new values are immediately transferred after the modification of the active machine-parameter file and the process memory (bits 1 and 2 not set in the parameter "Mode"), the marker 4174 (first run after MP was changed) is set. If the new machine parameters are not transferred immediately, the new values will become effective when the module is called again without bit 2 being set. Call: PS
PS
PS PS PS
CM PL
B/W/D/K Mode> Bit 0: 0 =Modify MP numerical value (MP is a number) 1 =Modify MP string (MP is a string) Bit 1: 0 = Modify parameter in file and memory (bit 2 is then also relevant) 1 = Modify parameter in process memory (behavior like Module 9031) Bit 2: 0 =Modify file and memory and immediately assume value(s) in NC 1 =Modify file and memory, do not immediately assume new value(s) in NC Will be assumed at next call with bit 2 = 0 B/W/D/K/SFile name> not supported at present (a value must be transferred (e.g. S""), but the value is not evaluated yet) B/W/D/K MP number> B/W/D/K MP index> B/W/D/K/SMP value> Depending on the mode, the MP value is interpreted as a PLC string number, PLC constant string or number 9312 B/W/D Error code> 0: No error 1: Parameter does not exist or cannot be changed 2: New value for parameter is invalid 3: Error while saving 4: Call was not in a submit or spawn job 5: Call during running NC program without change signal 6: Invalid PLC string for file name or MP value 7: Parameter file does not exist
Error recognition:
November 2006
Marker
Value
Meaning
M4203
0
No error
1
See error code
NC Software 340 49x-03 Service Pack 1
1–5
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HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 18 1.1 Overview 1.1.1 Released Service Packs The following service packs were released for 340 490-02 and 340 491-02: Service pack 09:
December 2006
The following service packs were released for 340 492-02 and 340 493-02: Service pack 09:
December 2006
1.1.2 Released NC Software The following versions of the NC software were released:
December 2006
NC software 340 490-03 and 340 491-03
September 2006
NC software 340 492-03 and 340 493-03
September 2006
Overview
1–1
1.2 NC Software 340 49x-02 Service Pack 09 1.2.1 Important Note Warning Starting immediately, please only ship all machines with iTNC 530 and software version 340 49x-02 with service pack 09! Error description: When approaching the reference marks, an incorrect point can be determind in rare instances. This affects machines equipped as follows: iTNC 530 with software version 340 49x-02 (including service packs 01 up to 08) Controller unit CC 424(B) Axes with two encoders (motor and position encoder) Incremental motor encoder and incremental position encoder (this error does not occur if one of the two encoders is an Endat encoder) This error can only occur if all four conditions listed above are fulfilled. Corrective action: Please install service pack 09 starting immediately on all machines for initial delivery. HEIDENHAIN recommends retrofitting machines in the field with software version 02 (including service packs 01 up to 08). If you require support, please contact the HEIDENHAIN service department. As an immediate workaround for linear encoders with distance-coded reference marks, machine parameter MP 1350 can be set to 4. Four reference marks are then used to determine the reference point. The control detects that the reference point was not reproduced clearly, and displays the Ref mark : Incorrect spacing error message. The reference marks must be approached again.
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HEIDENHAIN Technical Manual iTNC 530
1 Update Information No. 19 1.1 Overview 1.1.1 Released Service Packs The following service packs were released for 340 422-14 and 340 423-14: Service pack 1: The following service packs were released for 340 480-14 and 340 481-14: Service pack 1: The following service packs were released for 340 490-03 and 340 491-03: Service pack 1: Service pack 2: Service pack 3: Service pack 4: Service pack 5: Service pack 6: Service pack 7:
November 2006 January 2007 March 2007 May 2007 July 2007 September 2007 October 2007
The following service packs were released for 340 492-03 and 340 493-03: Service pack 1: Service pack 2: Service pack 3: Service pack 4: Service pack 5: Service pack 6: Service pack 7:
November 2006 January 2007 March 2007 May 2007 July 2007 September 2007 October 2007
1.1.2 Released NC Software The following NC software was released: NC software 340 490-04 and 340 491-04 NC software 340 492-04 and 340 493-04
December 2007
Overview
December 2007 December 2007
1–1
1.2 NC Software 340 49x-04 1.2.1 Important Notes Warning This NC software will only run on MC main computers with at least 256 MB of main memory! This applies to single-processor and dual-processor controls! You must upgrade the main memory of your control to at least 256 MB. Please contact your HEIDENHAIN service agency for this. Memory expansion for software option Python OEM Process #46 In order to use Option #46 – Python OEM Process –, you must increase the main memory of your control to at least 512 MB. Please contact your HEIDENHAIN service agency for this. You do not need to increase the main memory if you do not want to use Option #46. This does not impair any of the other features. If the MC being used has no more than 256 MB of main memory, it is not possible to start a Python process although Option #46 has been activated. Since May 2007, a main memory of 512 MB has been a standard feature of all MC 420 (index B), MC 422 C (index A) and MC 422B dual-processor version (index B) main computers. The RAM of the MC can be checked in the herosdiagnose.txt file. The RAM of the MC is listed in [kB] under the Total Memory heading. Proceed as follows to create the herosdiagnose.txt file:
While in the Programming and Editing operating mode, press the MOD key.
Press the DIAGNOSIS soft key, and then the HEROS DIAGNOSIS soft key.
Discontinuation of USB cables The following USB cables will be discontinued and will be replaced by the new USB cables, ID 624 775-06 to ID 624 775-30. In the new cables the integrated amplifiers are arranged in a reduced interval of 5 m instead of 6 m, and ensure a high operational reliability up to a length of 30 m (see „Cable Overview” on page 113). Discontinuation as of June 2008: • USB cable with ID 365 499-xx The USB cable with ID 365 499-36 (length 36 m) will not be replaced. • USB cables from ID 354 770-06 to ID 354 770-12 The USB cables from ID 354 770-01 to ID 354 770-05 (lengths 1 m to 5 m) without amplifier will remain in the product program.
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HEIDENHAIN Technical Manual iTNC 530
New PUR cables for control components New connecting cables will be introduced to connect the control components TE 530B, TE 520, TE 535Q, MB 420, MB 520, PLC inputs and outputs as well as the PL 410B (only if servicing is necessary) to the MC 4xx (see „Cable Overview” on page 113). The properties of the new PUR cables were improved in order to make them particularly suitable for machine tool applications: • Bending radius: >40 mm for rigid configuration, >150 mm for frequent flexing • Torsion: Clamping length >1200 mm, rotation angle ± 180° • Suited for drag chains (improved) Previous ID (until June 2008)
New ID Intended use (starting Dec ember 2007)
244 005-xx
635 876-xx
PLC I/O; cable with one connector for OEM MB
263 954-xx
635 877-xx
PLC I/O; cable with connectors at both ends (for TE, MB, PLC I/O)
263 955-xx
635 878-xx
PLC I/O; extension cable for ID 635 877-xx for TE, MB, PLC I/O
289 111-xx
635 879-xx
Connection of PL 410B (cable, service)
317 788-xx
635 880-xx
Connection of PL 410B (cable, service)
Window Manager With software version 340 49x-04, the XFCE Window Manager will be introduced on the iTNC 530 control in order to provide a better overview and to improve the ease of working with multiple windows. This will result in minor changes in the graphical interface of the iTNC. But the operation of the control remains the same.
December 2007
NC Software 340 49x-04
1–3
1.2.2 Description of the New Functions New options and upgrade functions
1–4
The following options are enabled by entering a code number. HEIDENHAIN can give you the code number after having been informed of the SIK number. Option
Description
ID
#41
Additional Languages The following languages are now available as additional dialog languages: Turkish
530 184-08
Romanian
530 184-09
#46
Python OEM Process: Possibility to execute a Python process on the control
579 650-01
#48
KinematicsOpt: Performing an initial measurement and optimizing the active kinematics
630 916-01
#101 to #130
OEM Option 1 to OEM Option 30: Possibility to 579 651-01 enable OEM applications for the end user via the to SIK from HEIDENHAIN. 579 651-30
HEIDENHAIN Technical Manual iTNC 530
Machine parameters
Expanded: MP750 – Hysteresis for the axes (backlash compensation) The input range was expanded from +/– 1.0000 [mm] or [°] to +/– 9.9999 [mm] or [°]. Input: –9.9999 to +9.9999 [mm] or [°] Expanded: MP1060.x, MP1061 and MP1070 – Acceleration parameter The input range for the machine parameters MP1060.x, MP1061 and MP1070 was expanded. Input: 0.001 to 500 [m/s2] Expanded: MP1085.x, MP1086.x and MP1090.x – Jerk parameter The input range for the machine parameters MP1085.x, MP1086 and MP1090 was expanded. Input: 0.0 to 9999.9 [m/s3] Expanded: MP1160 – LIFTOFF at power failure The input range for MP1160 was expanded. Input: 0.0000 to 30.0000 [mm] Danger Limit switch monitoring is not active during LIFTOFF. Note Perform the LIFTOFF function on the machine to check whether the tool lifts off the complete distance defined in MP1160 without problems. Due to the dynamics of a machine, it may occur that the LIFTOFF (if values > 10 mm are defined in MP1160) cannot be executed completely and is aborted with an error message. Expanded: MP1515.x – kv factor for velocity feedforward control (M 105) The input range for machine parameter MP1515.x was expanded. Input: 0.100 to 1000.000 [m/(min*mm)]
December 2007
NC Software 340 49x-04
1–5
MP1352 – Activate the software limit switches before traversing the reference marks Controls with software version 340 49x-04 and higher save the last axis positions that were traversed before switch-off. These positions allow you to check the traverse ranges of the axes when traversing the reference marks. This can be activated for a specific axis in MP1352 and is switched on/off with the MONITOR SW LIMIT soft key. This soft key is available after the control has been switched on in the "reference mark traverse" operating mode. Input: %xxxxxxxxxxxxxx Danger When approaching the reference marks again (e.g. after switching the axis), this monitoring function is not active. If fatal error messages occur, the position at shutdown may not be exactly identical to the position at switch-on. Please inform your customers for which axes you have enabled the activation of the software limit switches in MP1352, and for which axes you have not enabled it. The MONITOR SW LIMIT soft key is available when MP1352 is set for at least one axis. The user, however, is not informed for which axes the software limit-switch monitoring function before reference-mark traverse is active. As of CC 424: MP2198.x – Type of power supply module In MP2198.0 and MP 2198.1 you enter the types of power supply modules being used. This makes it possible to calculate the dc-link power for display in the oscilloscope. The entries in the SUPPLY.SPY table must be used for MP 2198.x. The table is stored in the PLC:\mp\ directory. In the MP editor a soft key in the second soft-key row is available for manually entering the name of the power supply module into the MP. Input: Name of the UV Default setting: ““ (Empty string) As of CC 424: MP2199.x – Assignment of the servo drive to the power supply module In MP2199.x you assign the respective axis/spindle to one of the two power supply modules defined in MP2198.x. Input: 0: The axis/spindle is assigned to the UV in MP2198.0 1: The axis/spindle is assigned to the UV in MP2198.1 As of CC 424: MP2221.x bit#7 – Switch-on time of servo drive MP2221.x bit#7 enables you to deactivate the reduction of a drive's switch-on time when it is switched on with PLC module 9161. If spindles with wye/delta switchover but without evaluation of the status of the wye/ delta contactor are used, it may occur that the drive is switched on again before the contactor has switched over to the appropriate mode. If this occurs, the current controller sets the voltage to the maximum possible value. If the contactor is then closed, this may lead to overcurrent, and as a result, to a switch-off (e.g. due to error message 8B60) of the drive. The reduction of the switch-on time when a drive is switched on by PLC module 9161 was introduced with software 340 49x-03. In some cases, problems occurred after a software update. You can now deactivate the reduction of the switch-on time with bit#7 of MP2221.x. Input: 0: Reduction of the switch-on time is active 1: Reduction of the switch-on time is not active
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HEIDENHAIN Technical Manual iTNC 530
MP2222.x – Reserved MP2222.x – Reserved As of CC 424: MP2250.x – Determining the field angle without moving the motor A new method was introduced for determining the field angle, which makes it possible to establish the relationship between the position of the incremental encoder and the position of the rotor magnets even if there is considerable noise in the encoder signals. (See “New Functions as of CC 424” on page1 – 87) Input: 4: Method 4 (if there is a lot of noise in the encoder signals) As of CC 424: MP2195 bit#7, bit#8 – Suppress the error messages from the HEIDENHAIN power supply units The SUPPLY.SPY table for the power supply modules contains the STATUS-SIG column for the status signals of the power supply module. This column informs you, among other things, whether the PF.PS.AC and PF.PS.DC is supported by the power supply module. This information in SUPPLY.SPY is evaluated by the CC 424 and higher. The new bits #7 and #8 of MP2195 enable you to deactivate the error messages that may be triggered by the evaluation of these signals (PF.PS.AC, PF.PS.DC). The introduction of the new bits enables you to do this without having to change the SUPPLY.SPY table. • MP2195 bit#7 If MP2195 bit#7 is set, the error message triggering the –PF.PS.AC signal is suppressed. 0: Previous behavior; Error message is not suppressed 1: Error message is suppressed • MP2195 bit#8 If MP2195 bit#8 is set, the error message triggering the –PF.PS.DC signal is suppressed. 0: Previous behavior; Error message is not suppressed 1: Error message is suppressed MP2309.x – Controller parameters are adjusted to closed brake In MP2309.x you can define a time period in which the speed and position controller parameters are adjusted to values for controlling a closed brake when the drive is switched on. This parameter can be used to avoid oscillations in the drive during switch-on when the brake is still closed and the controller is already active. Input: 0: Previous behavior; not active 0.001 to 1.999 [s]
December 2007
NC Software 340 49x-04
1–7
MP4031 – Monitoring of number of PLs In MP4031, you can enter the number of physically connected PLs in order to monitor the number of connected PLs (PL 4xxB, PL B510). When the control is started and every time the PLC is restarted, the entry in MP4031 is compared to the actual number of physical PLs. If the entry in MP4031 is not identical to the number of connected PLs, the PLC is not started and the error message PL: Configuration incorrect appears. Input: –1: Previous behavior; monitoring not active 0 to 4: Number of PLs is monitored MP4043 – Delay for shutdown With MP4043, you can delay shutdown of the control (after pressing the SHUTDOWN soft key) to enable the PLC to execute final actions. When you press the SHUTDOWN soft key, the control starts shutting down, PLC marker M4179 is set and the delay time entered in MP4043 starts to elapse. The PLC program can execute final actions during the delay time. If the PLC marker M4179 is reset by the PLC program, the SHUTDOWN process will be continued before the time set in MP4043 has elapsed. The SHUTDOWN process is automatically continued at the latest after the expiration of the time in MP4043. Input: 0: Previous behavior; no delay 1 to 60 [s] If the following conditions apply, however, it cannot be guaranteed that final PLC actions (e.g. data backup of non-volatile memory ranges of the PLC) are executed: • If no PLC program is active at the time the control is shut down, (e.g. PLC run time error has occurred, power interruption status), the shutdown time is not delayed. • If a PLC run time error occurs during shutdown, the delay is canceled. Expanded: MP6010 – Selecting the touch probe You can now select the battery-free TS 444 touch probe by entering the value 3 into MP6010. MP6600 – KinematicsOpt: Amount of change In MP6600 you can enter the maximum permissible amount of change for the cycles used in KinematicsOpt. The amount of change prevents you from accidentally changing the machine kinematics too much with KinematicsOpt. Input: 0.010 to 1000 [mm] Default: 0.05 MP6601 – KinematicsOpt: Radius deviation of the calibration ball In MP6601 you can enter the maximum permissible deviation of the calibration ball radius. The ball radius is measured and checked with KinematicsOpt. This monitoring feature also detects incorrect probing caused by contamination. Input: 0.010 to 0.100 [mm] Default: 0.02 Expanded: MP7230.x – Conversational language MP7230.23 = Turkish (Option #41) MP7230.24 = Romanian (Option #41)
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HEIDENHAIN Technical Manual iTNC 530
MP7246 bit#4 – ASCII file for machining time per NC block If MP7246 bit#4 is set, the calculation of the tool usage times is written to an ASCII file. This file contains the run time and the absolute end time of each NC block listed by NC block numbers. The name of the ASCII file is derived from the name of the NC program (e. g. NCPROG.H) and has the extension *.POS.DEP (e. g. NCPROG.H.POS.DEP). Input: 0: Do not create ASCII file for machining time per NC block 1: Create ASCII file for machining time per NC block MP7362.x – Additional status display in the graphics window The input range was expanded by the MP7362.5, MP7362.6 and MP7362.7 indexes. This enables you to change the colors and the associated background colors for the actual override factor and the actual spindle load on the AFC tab. MP7362.5 = AFC tab – Background color Default setting: $0ECECEC MP7362.6 = AFC tab – Color of actual override factor Default setting: $000FF80 MP7362.7 = AFC tab – Color of actual spindle factor Default setting: $000AAFF MP7444 – Reserved Input: 0 MP7641 bit#4 – Handwheel superimposition in the active tool-axis direction The VT axis (Virtual Tool Axis) can now be activated for handwheel superimposition in the active tool-axis direction by setting MP7641 bit#4. Input: 0: Previous behavior 1: VT axis can be selected MP7641 bit#5 – Inactive behavior of HR 420 If MP7641 bit#5 is set, the keys of the HR 420 (PLC markers 4661 to 4668) are reported to the PLC even if the HR 420 is not active. This enables the PLC to make the keys of the HR 420 (e. g. NC stop, spindle stop) become effective even if the handwheel is not selected. Input: 0: Report the keys of the HR 420 to the PLC only when the HR is active 1: Report the keys of the HR 420 to the PLC even if the HR is not active MP7682 bit#10 – Peripheral milling active/inactive You can switch off the peripheral milling function (3-D radius compensation with tool orientation) by setting MP7682 bit#10. As a result, only 2-D radius compensation is active even if M128 with RR/RL radius compensation is active. Input: 0: Peripheral milling allowed 1: Peripheral milling inactive
December 2007
NC Software 340 49x-04
1–9
PLC modules
Module 9063 Deactivate and activate collision monitoring With PLC module 9063, you can influence the status of DCM collision monitoring in the program run modes of operation. Condition: During program run, collision monitoring can only be deactivated during an NC strobe. PLC module 9064 enables you to interrogate the status of collision monitoring for the current operating mode. It may occur that more than one PLC cycle is executed between activation/ deactivation and feedback from the PLC module 9064. Call: PS PS
CM
B/W/D/K 0: Collision monitoring active/inactive during program run B/W/D/K 0: Deactivate collision monitoring 1: Activate collision monitoring 9063
Error code: Marker
Value
Meaning
M4203
0
Function was performed correctly
1
Error code in W1022
1
Invalid value for mode/action
8
Call was during manual operation mode or during reference run
21
Call was during program run without strobe signal
45
Collision monitoring has already been programmed
W1022
1 – 10
HEIDENHAIN Technical Manual iTNC 530
Module 9067 Status of software settings PLC Module 9067 enables you to request status information about software settings. Module 9067 can currently be used to interrogate the software options set in the SIK. Call: PS PS CM PL
B/W/D/K 0: Interrogate whether SW option is set in the SIK B/W/D/K If mode is 0: Number of SIK option 9067 B/W/D Status of SIK option (if mode is 0): 0: Not set 1: Set
Error code:
December 2007
Marker
Value
Meaning
M4203
0
Function was performed correctly
1
Error code in W1022
W1022
1
Invalid value for number
2
Invalid value for mode
NC Software 340 49x-04
1 – 11
Module 9150 Axis-specific reading of axis traverse limits PLC module 9150 enables you to read the axis traverse limits that can be defined (after pressing the MOD key) by the user. If the axis traverse limits are set by the user (after pressing the MOD key), marker 4624 is set. The marker must then be reset by the PLC program. Condition: The default values entered in MP91x.x are the maximum possible values for the axis traverse limits. Call: PS PS
PS CM PL PL
B/W/D/K B/W/D/K 0: Traverse range 1 1: Traverse range 2 2: Traverse range 3 –1: Current traverse range B/W/D/K 0: Axis traverse limits that were changed with the MOD key 9150 D D
Error code: Marker
Value
Meaning
M4203
0
Axis traverse limit determined
1
Error code in W1022
W1022
1 – 12
1
Invalid value for mode
2
Invalid value for axis or traverse range
HEIDENHAIN Technical Manual iTNC 530
Module 9188 Call a soft-key function Module 9188 enables you to simulate soft-key functions. The soft-key designation is used for programming. Conditions: For a soft-key function to be simulated the soft key must be contained in the soft-key row that is displayed on the screen or in one of the soft-key rows that are in the same level but on the following screen pages. The parameter Attribute defines whether a function should be activated although the soft key is not displayed in the soft-key row on the screen, but is contained in one of the following soft-key rows. As opposed to module 9186, the status can be determined with error code W1022 as soon as the module is called. The following soft keys can be simulated using the designators listed below: Soft key
Soft-key designator SK_NC_Manual_operation_TOUCH_PROBE
SK_NC_Manual_operation_PRESET_TABLE
SK_NC_TOOL_TABLE
SK_NC_Manual_operation_INCREMENT_OFF
SK_NC_Manual_operation_INCREMENT_ON
SK_NC_Manual_operation_PASS_OVER_REFERENCE
SK_NC_Manual_operation_SET_DATUM
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1 – 13
Soft key
Soft-key designator SK_NC_Program_run_TOOL_USAGE_TEST
SK_NC_Program_run_F_MAX
SK_NC_Program_run_AUTOSTART
SK_NC_Program_run_AUTOSTART_ON
SK_NC_Program_run_AUTOSTART_OFF
SK_NC_Program_run_SLASHED_BLOCKS_NOT_ACTIVE
SK_NC_Program_run_SLASHED_BLOCKS_ACTIVE
SK_NC_Program_run_GLOBAL_SETTINGS
SK_NC_Program_run_AFC_ENTER_TABLES
SK_NC_Program_run_AFC_RESULTS
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HEIDENHAIN Technical Manual iTNC 530
Soft key
Soft-key designator SK_NC_Program_run_AFC_SETTINGS
SK_NC_Program_run_AFC_ON
SK_NC_Program_run_AFC_OFF
SK_NC_Program_run_GLOBAL_SETTINGS_SET_ STANDARD_VALUES
SK_NC_Program_run_GLOBAL_SETTINGS_SET_ INACTIVE
SK_NC_Program_run_GLOBAL_SETTINGS_UNDO
SK_NC_Program_run_INTERNAL_STOP
SK_NC_Program_run_RESTORE_POSITION
SK_NC_Program_run_MANUAL_TRAVERSE
December 2007
NC Software 340 49x-04
1 – 15
Call: PS PS PS
CM
B/W/D/K 0 = Simulate the soft key using the soft-key designator B/W/D/K/S B/W/D/K Bit 0: 0 = Soft-key is only simulated if it is in the main row 1 = Soft key is simulated regardless of whether it is in the main or subordinate row 9188
Error code: Marker M4203 W1022
1 – 16
Value
Meaning
0
No error
1
See error code
2
Invalid value for mode
11
String as a soft-key designator is invalid
20
Call was not in a submit or spawn job
45
Internal operating system error
61
Soft key is neither available in the main soft key row nor in the following soft-key rows
62
Programmed soft-key name does not exist
HEIDENHAIN Technical Manual iTNC 530
Module 9312 Editing/Edited machine parameter in the current machine parameter file Module 9312 enables you to dynamically overwrite the values of the machine parameters in the active machine parameter file and the process memory, or only in the process memory. For machine parameters defined as numerical values, the new value can also be programmed as a string. Conditions: For numbers the values must be returned as an integer. The decimal point is shifted by the number of possible decimal places. For example, if MP910.0 is to be set to 100.12 mm, the transferred must be equal to 1001200. (4 possible decimal places lead to a multiplication by 10000). For non-indexed machine parameters, zero must be programmed as the index. Once the NC program has started, the module operates only during the output of M/G/S/T/T2/Q change signals (strobe). Depending on the changed machine parameter’s type, the geometry is reinitialized. Not every MP can be changed by the PLC. If a new value for a machine parameter defined as a numerical value is programmed as a string, the value is converted to the decimal system (even if the new value is programmed in the "$0004" or "%0000011111" format, for example). If the new values are immediately transferred after the modification of the active machine-parameter file and the process memory (bits 1 and 2 not set in the parameter "Mode"), the marker 4174 (first run after MP was changed) is set. If the new machine parameters are not transferred immediately, the new values will become effective when the module is called again without bit 2 being set.
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1 – 17
Call: PS
PS
PS PS PS
CM PL
B/W/D/K Bit 0: 0 =Modify MP numerical value (MP is a number) 1 =Modify MP string (MP is a string) Bit 1: 0 = Modify parameter in the file and in the process memory (Bit 2 is then also relevant) 1 = Modify parameter in the process memory (Behavior like Module 9031) Bit 2: 0 = Change the file and the process memory and immediately tranfer value(s) into the NC 1 = Change the file and the process memory, do not immediately assume new value(s) in NC. Will be assumed at next call with bit 2 = 0 B/W/D/K/S not supported at present (a value must be transferred (e.g. S""), but the value is not evaluated yet) B/W/D/K B/W/D/K B/W/D/K/S Depending on the mode, the MP value is interpreted as a PLC string number, PLC constant string or number 9312 B/W/D 0: No error 1: Parameter does not exist or cannot be changed 2: New value for parameter is invalid 3: Error while saving 4: Call was not in a submit or spawn job 5: Call during running NC program without change signal 6: Invalid PLC string for file name or MP value 7: Parameter file does not exist
Error code:
1 – 18
Marker
Value
Meaning
M4203
0
No error
1
See error code
HEIDENHAIN Technical Manual iTNC 530
Expanded: Module 9036 (Writing status information) In Module 9036, you can now also use number 7 as the . When number 7 is transferred, you can choose between three different handwheel feed rates. The following feed rates can be selected as : • 0 = Slow speed • 1 = Medium speed • 2 = Rapid speed Expanded: Module 9151 (Select traverse range and axis designation) The PLC module 9151 may now also be called when the user has stopped the machining process with External Stop, and has then activated the MANUAL TRAVERSE function with the appropriate soft key. When RESTORE POSITION is activated, the system checks whether the traverse range has been reset to the original value. If this is not the case, an error message is output and the RESTORE POSITION function is not executed. You can, however, cancel the machining process with External Stop or Emergency Stop. If the traverse range is switched when the MANUAL TRAVERSE function is active (activated by soft key), an active M128 function is automatically deactivated. After switching back with RESTORE POSITION, M128 is reactivated. Expanded: Module 9170 (Finding the current torque) Unlike the description in the Technical Manual, the PLC module 9170 up until now gave the current nominal torque value in percent instead of tenth of percent when Mode 0 was active. Module 9170 now allows you to read the current torque value in percent (Mode 0) or tenth of percent (Mode 1). • = 0: Torque value in percent of the nominal torque • = 1: Torque value in tenth of percent of the nominal torque Expanded: Module 9186 (Calling a soft-key function) Number 8 for the MANUAL TRAVERSE soft-key function was added to the module. • = 8: MANUAL TRAVERSE Expanded: Module 9221 (PLC positioning movement) With module 9221, you can now deactivate collision monitoring for a specific PLC positioning movement. This means that it is also possible to position an axis when DCM is active and the reference marks have not yet been traversed in all axes. A PLC positioning command can only be executed if collision monitoring is deactivated for all axes involved in the positioning movement. The deactivation of collision monitoring for the PLC positioning movement does not affect the status information provided by Module 9064. In Module 9221, bit 3 is now available for : • Bit 3 = 0: Behavior as before (collision monitoring is active) • Bit 3 = 1: Collision monitoring is deactivated
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Expanded: Module 9222 (Status request of PLC positioning movement) If PLC positioning movements are not started due to the collision monitoring function, Module 9222 now uses value 7 to report the status "Positioning not started due to collision monitoring". This information is bit-encoded and is provided for all axes. Expanded: Module 9223 (Free rotation) For auxiliary axes (e.g. rotary axes that are configured as auxiliary axes), the PLC module can now also be used without active strobe signal during a running NC program. Expanded: Module 9240 (Opening a file) Bit#3 is now available for . Bit#3 is only evaluated in "record oriented" (bit#2 = 0). If bit#2 is set, a file is created regardless of bit#3. • Bit 3 = 0: Do not create file • Bit 3 = 1: Create file if it does not exist Expanded: Module 9248 (copying, renaming or deleting files) For Module 9248, the values of marker W1022 were revised: Memory
Value
Meaning
M4203
0
Successful execution of module
1
Error code in W1022
2
Module was called in an invalid mode setting
3
Invalid source string or target string
7
Error during file conversion, source file does not exist or an invalid source drive or target drive was specified
20
Module was not called in a spawn or submit job
29
Copying or renaming not allowed for the current file types
36
Error during renaming or deletion. More information about the error can be requested with Module 9149, immediately after Module 9248 has been called. Or an error occurred during a copying process without conversion.
W1022
Expanded: Module 9250 (Starting the PLC editor for tables) Bit#3 for was added to the module. This results in a new error code for W1022. Value 6 in W1022 means that the write protection of a writeprotected file is respected (bit#3 = 1) and that the file cannot be opened. • Bit 3 = 1: Write protection of the file to be opened is respected
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HEIDENHAIN Technical Manual iTNC 530
PLC programming
Number of SPAWN processes was increased The number of possible SPAWN processes in the PLC was increased from 8 to 16. M4188 – Compilation status of the PLC Marker M4188 is set at the beginning of each compilation process in the PLC project. Marker M4188 is reset as soon as the initialization of all components involved in the compilation process has been completed and the PLC has been started. M4225 – Activate an alternative error reaction You can now use marker M4225 to activate an alternative error reaction, provided that it is available in the PET table. The new column AE (Alternative error reaction E/C/S/F) was therefore added to the PET table. However, the error reactions that are active at the time an error message occurs will become effective. This means that error messages that were initiated before marker M4225 was set, but have not been displayed yet, will trigger the original error reactions. The following entries can be made in the AE column: • E = EMER.STOP • C = NC-CANCEL • S = NC-STOP • F = F-STOP M4680 – Disable activation of the HR 420 The activation of the HR 420 can be disabled by PLC. If you set the marker M4680, the message HR not allowed appears in the handwheel's display. If the marker is set and the user presses the handwheel activation key, the error message Wrong operating mode for handwheel appears. If the marker M4680 is set when the handwheel is active, the marker has no effect. M4054 – Battery voltage too low Marker M4054 was introduced for the new battery-free TS 444 (MP6010 = 3) touch probe. The marker is set when the the touch probe is ready for operation (M4050) and the supply voltage for the battery-free touch probe is too low. If no touch probe is connected, the value of marker M4054 is undefined. Power is supplied to the battery-free touch probe by compressed air driving an integrated air turbine generator. The capacitor in the touch probe stores energy for approx. two minutes of continuous operation. Evaluation of marker M4054 makes it possible to purposefully control the supply of compressed air. M4624 – Changed axis-traverse limits If the axis traverse limits are changed by the user (after pressing the MOD key), marker M4624 is set. The marker can only be reset by the PLC program. M4625 – Disable operation with following error / semifeedforward control If the marker M4625 is set, the start of an NC axis for which operation with following error or velocity semifeedforward control is active is prevented, and the error message Semifeedforward not permitted is displayed. The marker is only evaluated when an NC program is started or when the axes are traversed with axis-direction keys. W336 – Setting of the AFC OFF/ON soft key The setting of the AFC OFF/ON soft key is mapped in PLC word W336. • W336 = 0: Soft key is set to OFF • W336 = 1: Soft key is set to ON
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W348 – Current mode of AFC In PLC word W348 is now the current mode ( inactive = 0, learning phase = 1, controlling = 2) of the adaptive feed control AFC stored. • W348 = 0: AFC inactive (OFF) • W348 = 1: AFC in learning phase • W348 = 2: AFC controlling W632 – AFC control input value from W632 instead of spindle power For the AFC adaptive feed rate control, you can now use the value in PLC word W632 [value in tenths of percent] as control input variable, instead of using the spindle power in percent. A spindle power of 50% corresponds to the value 500 to be entered in W632 (0.1% corresponds to the value 1). This may be necessary for individual applications (e. g. pecking). The control input variable in W632 must be calculated in the PLC program, which can best be done with a fast PLC cycle (e. g. 15 ms). Also, when word W632 is used, no idle load for the spindle is determined and no transitional period for the tool entering or leaving the workpiece is considered. This function must be activated by entering AFC.PLCCONTROL = ON in the OEM.SYS. However, the function only works if a value is entered in W632. W766 – % factor for feed rate override If the value 0 is entered in W766, the value 0 is now immediately transferred without smoothing. FN18 – ID630 NR0 IDX The new function FN 18: SYSREAD ID630 NR0 IDX makes it possible to interrogate the status of the software options in the SIK. The number of the software option in the SIK must be entered in . The result 1 is returned, when the option is set in the SIK. If the option is not set in the SIK, the result is 0. FN18 – ID630 NR1 The new function FN 18: SYSREAD ID630 NR1 enables you to read out the FCL set in the SIK. FN18 – ID630 NR2 The new function FN 18: SYSREAD ID630 NR2 enables you to read out the serial number of the SIK. If no valid SIK exists in the system (e. g. programming station), the function returns the result –1.
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System definitions available in the PLC soft-key project file The following system definitions that are already available in the PLC compiler are now also supported by the soft-key generator. They can thus be used in the PLC soft-key project file *.SPJ: • $$ (e. g. #ifdef $340422$) • $$ • $$ • $$ (e. g. #if $VARIANT$ < 34042210) • $$ • $$ Environmental variable for conditional compilation The environmental variable %GraphicsResolution% in the PLC configuration file is now available for conditional compilation of the PLC program. The variable is set to the value 1024x768 or 1280x1024, depending on the screen resolution. The content of the environmental variable can be evaluated and used for conditional compilation. Example: define resolution=%GraphicsResolution% ... # if resolution=1024x768 ... #endif ... # if resolution=1024x768 ... #endif
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iTNC – Operation and technology
AFC (Option #45) – AFC OFF/ON soft key is saved for control reset The setting of the AFC OFF/ON soft key is saved and is not automatically set to AFC OFF when the control is reset or an emergency stop occurs. The setting of the soft key is also retained after switching off the machine with the main switch. AFC (Option #45) – Changes during the learning phase • The spindle reference power determined with the teach-in cut until this time is displayed in a pop-up window. • The new PREF RESET soft key is displayed next to the EXIT LEARNING soft key. This soft key enables you to reset the spindle reference power determined by the teach-in cut until this moment, and to restart reference-value determination. AFC (Option #45) – Line diagram display The actual values of the spindle power and override factor defined by AFC are recorded and displayed in a line diagram for diagnosis. Like the previous bar graph, the line diagram is available on the AFC tab. The diagram is generated from the same input data as the bar graph.
AFC (Option #45) – Delete entries in the table for control settings The DELETE LINE soft key is now available in the Programming and Editing mode of operation. Only use this function if you specifically want to delete an incorrectly created line from the .H.AFC.DEP table for control settings. This may be reasonable when lines were created in the table, which would not have been created during normal program run. Such lines might, for example, be produced when program run is canceled, or by a GOTO command to a previous beginning of a cut. You must confirm deletion in a confirmation request, because deleting a line moves up the following lines with their control parameters. Danger Please note that the control parameters will be assigned to the wrong cuts if you delete lines incorrectly. If you are not sure which line may be deleted, then perform the learning phase anew for the complete NC program. AFC (Option #45) – Input area of column PLC expanded In the two tables of controll settings .H.AFC.DEP and AFC.TAB the input area of column PLC is expanded from 2 figures to 3 figures.
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DCM (Option #40) – Behavior of collision monitoring was changed The behavior of DCM collision monitoring in the Manual Operation mode was changed. The sequence of early warning (distance < 14 mm), warning (distance < 8 mm) and error (distance < 2 mm) is not used any longer. Now the axes are automatically stopped when two collision objects are at a distance of < approx. 4 mm from each other, and a corresponding error message is output. Example of error message: DCM: TOOL – Tilting table However, the axes can now be moved again if the motion increases the distance between the collision objects (for example by pressing the axisdirection key for the opposite direction): First release the axis-direction key or stop the handwheel, and then press the appropriate axis-direction key or turn the handwheel in the appropriate direction. Confirming the error message with the CE key is then no longer necessary. If you want to execute a motion that reduces the distance between the two collision objects, you must deactivate DCM collision monitoring for the manual operating mode. DCM (Option #40) – Exclude TT for tool measurement During tool measurement with a TT, the CMO protecting the TT can automatically be excluded from collision monitoring. A CMO that has been identified correspondingly will then automatically be excluded during the execution of touch probe cycles TCH PROBE 30/31/32/ 33 or 480/481/482/483. The CMO for the touch probe is identified by entering TT_ENABLE_PROBING in the DOC column of the kinematics table. The CMO identified in this way will be excluded from collision monitoring before the beginning of the touch probe cycle. At the end of the cycle or when the cycle is canceled, the CMO will automatically be included in collision monitoring again. Another possibility for excluding an identified CMO from collision monitoring is to use the function FN 17: SYSWRITE ID 990. The function FN 17: SYSWRITE ID 990 NR6 = 1 causes switching to input X13. The CMO is then excluded from collision monitoring for as long as X13 is active. The following must be kept in mind: • You can use TT_ENABLE_PROBING for only one CMO.. • If a touch probe cycle is canceled with the EXTERNAL STOP soft key, the tool (TT) should be retracted in the Manual Operation mode before pressing the INTERNAL STOP soft key. The INTERNAL STOP soft key results in the CMO being included in collision monitoring again, and the tool would then be immobilized by collision monitoring. DCM would trigger an error message reporting a distance < 2 mm. The tool (TT) can then not be retracted until collision monitoring has been switched off. • After retraction from the measuring point, the tool (TT) must be located sufficiently far from the area for which protection is active again. After retraction, the distance must be > 5 mm. This safety clearance can be defined in MP6540.x.
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DCM (Option #40) – Language-sensitive texts in DOC column The texts displayed for selecting the kinematics can now be created as language-sensitive texts. The window for selecting the kinematics is opened after the keyword KINEMATIC is entered. In the DOC column of the kinematics table, you enter a string that consists of the following elements: "#". Depending on MP7230.x, the texts is fetched from the specified line in DIALOG.A, and displayed in the selection window. The line numbers of DIALOG.A are identified by the preceding character #. At present, utf8 characters cannot be displayed in the selection window. If the entry in the DOC column is used as a keyword to make changes to the kinematics by using WRITE TO KINEMATIC, the "#“ can be entered as KEY. Example: WRITE TO KINEMATIC AT COLUMN "HEIGHT" CAPTURE "DOC" KEY "#143" = 22 DCM (Option #40) – Monitoring of chucking fixtures KinematicsDesign mentions possibilities for creating chucking fixtures and chucking fixture templates for collision monitoring of chucking fixtures. These possibilities are preliminary measures for realizing this type of monitoring in the iTNC 530. For more information, please contact HEIDENHAIN. Handwheel superimposition and DCM (FCL 4 function) DCM can now also monitor handwheel superimposition (with M118 or Global Program Settings) for collisions. During program run, however, the handwheel is not active. Handwheel superimposition with active DCM is only possible when program run is stopped with External Stop or with the Single block operating mode. If an offset is defined for handwheel superimposition after the External Stop, this offset is considered by collision monitoring when the NC program run is continued. This behavior also applies to the virtual tool axis VT. 3-D graphics The 3-D graphics was improved. When you activate DISPLAY TOOLS, the improved 3-D graphics with the following new features will appear: • Continuous zoom • Machining of workpiece can be viewed from all sides • Tool is displayed • Profiles are displayed • Bottom view of model possible
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HEIDENHAIN Technical Manual iTNC 530
Python OEM Process #46 software option The Python OEM Process option is an effective tool for you to use an object-oriented high-level programming language in the control (PLC). Python is an easy-to-learn script language that supports the use of all necessary high-level language elements and is well known by experts. "Python OEM Process" can be used for machine functions and complex calculations, as well as to display special information. It is especially useful for the implementation of user-specific or machine-specific solutions, regardless of whether special algorithms or interfaces for special functions have to be created. The applications created can be displayed by the PLC in the familiar PLC windows or in separate freely definable windows that can be expanded to the TNC's full screen size. The system requires 512 MB of RAM. A separate documentation will be prepared for Python OEM Process, which you can download free of charge from the HEIDENHAIN FileBase under "PC software > Python" together with simple examples and additional PC tools for debugging and for the development of user interfaces. Gear transmission or wye/delta switchover and Cycle 209 With software version 04, the RPM FACTOR function is available for Cycle 209 (Tapping with chip breaking). This function must not be used for machines with transmission or wye/delta switchover. Keep the following in mind: Warning On machines with transmission or wye/delta switchover, the RPM FACTOR (Q403) function of Cycle 209 (Tapping with chip breaking) must not be used with a value other than the default value. Switching the gear range or wye/delta switchover during retraction with the RPM FACTOR function may cause damage to the machine. Please inform the customers who are using these types of machines that the RPM FACTOR (Q403) function of Cycle 209 (Tapping with chip breaking) must not be used with a value other than the default value.
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Introduction of the table for the power supply modules The SUPPLY.SPY table was introduced in connection with MP2198.x and MP2199.x. The table contains information on the power supply modules and is evaluated by CC 424 and higher. The table is always stored in the SYS:\mp\ directory. It is also stored in the PLC:\mp\ directory after it has been edited by the user. The iTNC searches for a valid supply module table in the same way as it does with power stage tables. The table for power supply modules contains the following entries: • Designation (NAME) • Type of power supply module (E-R) 0: No regenerative module 1: Regenerative module • Rated power output (P-N) in W • Peak power (S6-40) (P-S6-40) in W • Peak power for (0.2 s) (P-MAX02) in W • DC-link voltage (UZ) in V • Ratio of measuring voltage / UZ (UZ-AN) in V/V • Ratio of measuring voltage / IZ (IZ-AN) in V/V • Status signals (STATUS-SIG) Bit#0:AC-FAIL Bit#1:POWERFAIL Bit#2:TEMP Bit#3:READY Bit#4:Reserved Bit#5:Reserved Bit#6: Reserved Bit#7: Reserved • Proportional factor of D controller (P-D) • Integral factor of D controller (P-D) • Proportional factor of Q controller (P-Q) • Integral factor of Q controller (I-Q) • PWM frequency (FREQ) in HZ HR 420 – Activation possibility was added The HR 420 can now also be activated when probing was activated in the Manual Operation mode. This makes it possible to pre-select a probing cycle and pre-position the touch probe directly at the workpiece with the HR 420. Then the probing process can be started. Also, the HR 420 handwheel can now be activated after pressing the HELP soft key under MOD, and after pressing the 3-D ROT soft key in the Manual Operation mode.
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Integrated oscilloscope (as of CC 424) The integrated oscilloscope was expanded by the following signals: • DC-link P If the machine parameters MP2198.x and MP2199.x are configured, the dc-link power of the power supply module for the respective axis can be displayed in the oscilloscope. • Amplitude Amplitude of the position encoder • Motor A: Signal A of the speed encoder • Motor B: Signal B of the speed encoder • CC DIAG The signal is axis-specific and connected with an additional input box on the right side of the oscilloscope screen. In the input box you can enter a number for selecting a channel of the DSP. The following channels and signals are available:
December 2007
Number
Meaning
101
Status of emergency stop input (I32)
201
Masking the reference pulse via W1054
202
Activating the fine interpolation filter (nominal position value filter is active)
203
Position controller is closed W1040
204
Position control is fed forward (MP1392, MP 1392)
205
Deactivation of monitoring functions via W1042
206
Position control in semifeedforward mode (MP1396)
207
Rapid switch-off of speed controller (activated in MP4130)
208
DC-link voltage monitoring can be activated via PLC module 9167. The current status can be read via this channel.
300
Ready signal of power module (green LED on the power module)
301
Error signal of power module (triggers an error message)
302
Output for controlling the brake at the power module (X 344)
400
UV ready signal of the inverter
401
DC-link voltage too high
402
DC-link current too high
403
Excessive temperature of UV
404
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Number
Meaning
405
AC fail signal is active
600
I2T early warning threshold of drive was exceeded
601
Axis enabled (PLC module 9157)
602
Axis is active (PLC module 9162)
603
Commutation angle of motor was measured using the reference mark or EnDat
604
TNCopt function is currently being performed
New column "Radius compensation allowed" in MFUNCT.TAB The new RC ("Radius compensation allowed") column in the MFUNCT.TAB table enables you to define with Y/N whether the macro for the M function is also executed when radius compensation is active (RR/RL). If you enter Y, the macro will also be run when radius compensation is active. Until now, the error message Cancel radius comp. before PLC pos. was displayed. A macro that can also be run during active radius compensation should only contain NC functions that do not influence radius compensation in the calling program. New column "R SENSOR" in INVERTER.INV The resistance of the current sensor is indicated in the new column R-SENSOR of the INVERTER.INV table for the power stages. The entries in this column are maintained by HEIDENHAIN and need not be changed by the machine tool builder. Compensation points of nonlinear axis-error compensation The maximum number of lines, and as a result, the maximum number of compensation points for nonlinear axis-error compensation was increased from 360 to 4000. IPC delays shutdown of the control The control detects if one or more industrial PCs (IPCs) are connected and delays shutdown until the connected IPCs have been shut down (max. delay time of 2 minutes). During the delay time the IP addresses of the connected IPCs are displayed. Automatic termination of LSV2 connections Network connections for LSV2 applications are now cyclically checked. If the remote station does no longer respond (e. g. because the connecting cable was disconnected), the LSV2 connection will automatically be terminated. In the default setting, the connection is checked four times within a ten-second cycle. If the remote station does not respond after the fourth attempt, the connection is automatically terminated. If you do not want a cycle of ten seconds, you can increase the cycle time to a maximum of 6000 seconds with the REMOTE.TIMEKEEPIDLE token in the OEM.SYS. Example of entry in the OEM.SYS: REMOTE.TIMEKEEPIDLE = 250
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Editing the tables for motors, power stages and power supply modules was improved Editing the tables for motors, power stages and power supply modules from the MP editor was improved. If the cursor is located on the respective entry in the machine parameter list (e. g. MP2100.x, 2198.x) in the MP editor, pressing the associated soft key opens the selection list at the corresponding line. If the highlighted entry is not found, the selection list is opened at the beginning of the list. When the selection list is open, two new soft keys are now available. Press the SHOW ACTIVE VALUE soft key to open the respective table (motor.mot, inverter.inv or supply.spy) in write-protected mode. The current values of an entry can then not be edited. No new file will be created on the PLC partition. The CHANGE ACTIVE VALUE soft key allows you to edit the current values in the same way as before. Rotary axes with a traverse range exceeding 360° If you are using encoders with distance-coded reference marks (MP1350), you can now define a traverse range of more than 360° for rotary axes with limit switches (e. g. +/– 190 degrees). When the machine is switched off, the position is stored by the control. This enables the control to ascertain whether the axis is, for example, at a position of –1° or +359° after the machine is switched back on. Log entries The following events are now entered in the log of the control: • The event when a file is transmitted to the control via an LSV2 connection, or when a file is copied, renamed, deleted or its write protection is changed on the control by an LSV2 telegram. File extension for compensation files was changed The file extension .trc (derived from torque ripple compensation) was changed to .cmp. If, however, the file defined in MP2260 is not available as a file with the extension .cmp, the corresponding file with the extension .trc will continued to be used.
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Virtual Tool Axis (VT) With the iTNC 530, handwheel superimposed traverse in the active tool axis system (Virtual Tool Axis VT) is now possible when TCPM is active. This function is available in the Global Program Settings (Option#44). When the HR 420 is connected, the position of the virtual tool axis is displayed separately. It can be used in automatic mode when the HR 420/HR 410 is connected. Requirements that must be met for using the Virtual Tool Axis VT: • TCPM (Tool Center Point Management) function must be active. • DCM (Dynamic Collision Monitoring) must be deactivated. • MP7641 bit#4 "Handwheel superimposition in the active tool-axis direction" must be set. • MP7503 "Virtual tool axis" must be set. • MP7682 bit#9 "Load tilted working plane" should be set for the tilting values to be loaded into the Manual Operation mode during a program interruption. • Global Program Setting software option (Option #44) must be activated. • In the Global Program Settings you must define the permissible traverse range for the VT axis (as with M118). • Marker M4576 "Disable handwheel pulses" must not be set. Associated new functions: • In the Global Program Settings for handwheel superimposition, the axis VT can also be activated for the active tool-axis direction. • If an HR 420 is used, the axis VT can be selected in the axis menu. • When an HR 410 handwheel is connected, the axis VT can be selected via PLC module 9036 (selection parameter 6 (handwheel axis); axis value -1). • If parameter 10 (handwheel axis) is selected, the PLC module 9035 supplies a value of $8000000 (bit#31 is set) when the axis VT is active. • If the handwheel traverses an offset in this axis, the tool length compensation will change (additional DL). This additional length compensation is retained after a tool change.
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KinematicsDesign available on the iTNC 530 The KinematicsDesign PC tool is now also available on the control. The KinematicsDesign version on the control supports you in optimizing, adjusting and changing the kinematics of your machine. The working space and the collision objects of the active kinematics can be displayed and edited. The version in the control contains almost all the functions of the PC version. The command "File – Save as" was removed, because the active kinematics for editing is automatically saved when the KinematicsDesign version on the control is used. All other functions of the PC version that you find under "Edit," "View," "Paste," etc. have been implemented in the control version by using appropriate icons. HEIDENHAIN recommends using a mouse for operating KinematicsDesign. The documentation of the KinematicsDesign PC tool is stored in the PLC:\tncguide\ directory on the control. The operation of the KinematicsDesign PC tool described in the documentation substantially corresponds to that of the KinematicsDesign version stored in the control. To start the tool, switch to the PLC mode of operation. Press the ADVANCED SETUP soft key, and then the KINEMATICS soft key. To switch between KinematicsDesign and the screen of the control, press the screen switchover key. The corresponding icons provide you with the following functions:
Danger When you use the KinematicsDesign version on your control, you edit and change the active kinematics of your machine. The changes made immediately become effective in the active kinematics.
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Requirements on the control: • If no valid kinematics is active on the control, or if the entry KINEMATIC = is missing from the OEM.SYS, the error message Kinematics table missing appears, and KinematicsDesign is not started. • If you have created the kinematics description only with the KinematicsDesign version on the control and without the KinematicsDesign PC tool, then no .ini file (KineDesign.ini) of KinematicsDesign is available in the control. In this case, it may be necessary to create the file manually. If the machine configuration does not differ from the standard configuration (positive Z axis points up, and the positive X axis to the right) assumed by KinematicsDesign, you do not need to create the KineDesign.ini file. Also, if the kinematics description was transferred to the control by the KinematicsDesign PC tool, the .ini file is created automatically in the control and does not need to be created manually. However, if the configuration of your machine differs from the assumed standard configuration, you must manually create the KineDesign.ini file on the control. The file must be stored in the same directory as the KINELIST.tab file. The KineDesign.ini file must be an ASCII file with the two following entries: UpwardAxis = RightwarAxis = Example of KineDesign.ini: UpwardAxis = –Z RightwarAxis = –X
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Graphic simulation of the protected space or of collision objects (FCL 4 function) The Screen Layout key and the PROGRAM + KINEMATIC soft key enable you to display 3-D graphics of the collision objects defined in your machine in the Program Run operating modes. The viewer of the KinematicsDesign tool is used for this. However, the collision objects of the machine are only displayed and cannot be edited. A requirement for this to work is FCL 4 or higher and software option #40 (Dynamic Collision Monitoring). If no valid kinematics is active on the control, or if the entry KINEMATIC = is missing in the OEM.SYS, the error message Kinematic table missing appears, and the graphic simulation window remains empty. Whenever a threat of collision occurs, the collision objects concerned are shown in a red frame if DCM is active in the respective Program run mode of operation. Press the right mouse button to rotate the overall view of the collision objects.
New description added to the kinematics description table An input option in the KEY column was added to the kinematics description table:
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Column
Input
Description
KEY
MachBase
Defines the stationary part of the machine (machine base) for the graphic simulation in KinematicsDesign. All movements of a machine are simulated around the stationary part of the machine. MachBase only affects graphic simulation in KinematicsDesign. However, HEIDENHAIN recommends entering "MachBase" at the respective position.
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Append 3-D basic rotation to kinematics (FCL-4) Software 340 49x-04 enables you to append a 3-D basic rotation to the end of the kinematics description, e.g. for chucking equipment. When a rotation is appended to the kinematics, the coordinate system of the machine table is rotated with respect to the coordinate system of the machine axes. The preset vector from the preset table is always interpreted as a vector of the coordinate system of the machine table. As a result, the rotations must first be appended to the kinematics, and then the reference point must be determined. The working plane must be correspondingly tilted for the determination of the reference point. The following entries must be appended to the end of the kinematics description (e. g. after the description of the rotary table): Trans C ... Trans B ... Trans A ... Then you can use the WRITE TO KINEMATIC function to enter the coordinates of the rotation in the kinematics table. The rotation becomes effective when the PLANE function is activated. Use Cycle 431 "Measure plane" to determine the spatial angles for the rotation. Then the coordinates of the rotation must be entered in the kinematics description in the sequence described above. The coordinates of the rotation only correspond to the spatial angles of the kinematics description if they have been entered in the described sequence. Please also note that the first two measurement results of Cycle 431 define the orientation of the principal axis (principal axis X if tool axis Z). It may be necessary to align the workpiece in the plane before determining the rotation with Cycle 431. To do this, use Touch Probe Cycle 403. Expansion of the unicode character sets The unicode character sets were completed for the "Latin Extended-A" code range. This makes it possible to display the special characters for Turkish and Romanian. Tool change macro for the simulation In the PLC:\NCMACRO.SYS file, you can now enter the name of a tool change macro using the keyword TCSIMU, which is called during a tool change in the Test Run mode of operation. Like with the TOOL CALL macro for the machine operating modes, a TOOL CALL block must be executed within a macro in order to activate the new tool. Tool types in the magazine rules The maximum number of tool types in the magazine rules (tooltype) was increased from 20 to 99. EnDat encoders Software 340 49x-04 supports EnDat encoders with a resolution of more than 31 bits. This applies both for the reference run and for determining the commutation angle. USB devices It is now possible to connect a mouse or touch pad (USB mouse device) to each of the two ports for USB devices (X141, X142), and to operate them simultaneously. If you want to use this possibility so as to operate the control with two USB mouse devices from two separate locations, the PLC must ensure that only one of the two devices is active at any one time. This could be realized by connecting USB hubs with switchable supply voltage, for example. Also, a USB mouse can be disconnected and reconnected again during operation when controls with software 340 49x-04 are used. The USB mouse is now automatically recognized without needing to reboot the control.
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1.2.3 Drive Name and User Group for USB Device You can now define the drive name and the authorized user group for USB devices. This requires that USBMOUNTS = is entered in the OEM.SYS. This entry refers to a file containing one or more lines with the following syntax: ,, Example of entry in the file that is referred to, e. g. Stickconfig.a: KINGSTON,PLCSTICK:,OEM If the control detects a USB device during startup (only if it was switched on with the main switch), which has a VFAT partition with one of the specified volume names, the device is mounted and displayed with the name specified in , and not with the name USBn:. If the device also has other partitions, the other partitions are ignored except if they are also mounted with a volume name. If a USB device with one of the indicated volume names is connected after the control has started up, the device is mounted with the name USBn: as usual. The new functionality does not become effective until the control is switched off and then back on again. The described function is not available on dual-processor controls with the MC 422B hardware. On dual-processor controls with the MC 422C, the new function only works for USB devices that are connected to a real-time processor (X143). The following settings can be defined in any ASCII file (e.g. Stickconfig.a): Volume name of a USB device formatted with VFAT. If the name contains blank spaces, the complete name must be enclosed between quotation marks (" "). Also, the name must always be given in capital letters. Drive name under which the USB device is to be mounted (e. g. PLCSTICK:). The last character of the name must be a colon. The name can have up to 8 characters (without colon). User group for which the USB device is mounted and displayed. The following user groups are possible: • TNC: The USB device can be used by the machine operator. • OEM: The USB device can only be used by the OEM (code number 807667, PLC program, NC cycles).• SYS: The USB device can only be used by the HeROS system. Connecting more than one USB device with the same volume name may cause problems. When the control is started up, the first detected USB device with the new drive name is mounted. As a result, it may occur that each time the controls is started up, another device with the same volume name is mounted. HEIDENHAIN therefore recommends using unique volume names that cannot be confused (e.g. "JHK247G4"). On a PC with Windows operating system, the volume name can be defined in the properties of the USB device.
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1.2.4 Generation of Service Files A function has been introduced that enables you to save data relevant for service purposes in a .zip file. The appropriate data from the NC and PLC are saved in the file TNC:\service\service.zip. The name of the file is generated automatically, whereby is the system time shown as an unambiguous character string in hexadecimal code. You can generate a service file in the following ways: Press the ERR key and then the SAVE SERVICE FILES soft key. It can be provoked by certain configured errors. Here a “1” must be entered in the SF column (Create Servicefile) of the PET table. A service file is generated no more than once per minute. Crash of the NC software due to a fatal error Request via TNCremoNT The following data (and other information) is saved in the service file: Log PLC log Selected files (*.H/*.I/*.T/*.TCH/*.D) of all operating modes *.SYS files Machine parameters Information and log files of the operating system (can be partially activated via MP7691) Contents of PLC memory NC macros defined in PLC:\NCMACRO.SYS Information about the hardware Note HEIDENHAIN recommends that you encrypt your passwords in order to protect your passwords in *.SYS files when a service file is generated. When a service file is generated, the *.SYS files are also saved in the .zip file. As a result, however the passwords in the *.SYS files can be accessed by other persons. If you also want to protect your passwords from unauthorized access when the service file is generated, proceed as follows:
Open the *.SYS file in which you have stored passwords (e.g. OEM.SYS).
Place the cursor on the line containing a password (e.g. PLCPASSWORD, MPPASSWORD).
Press the ENCRYPT PASSWORD soft key. This encrypts the password and places it after the keyword.
In the default setting, the data are automatically converted to ASCII format when being saved to the .zip file. If however the conversion to ASCII fails, the binary version of the file is saved in the .zip file. Note Files that are saved on the encrypted PLC partition PLCE: cannot be written to the service file.
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You can also store your own control file PLC:\oemservicefiles.sys, in which you can enter additional files to be saved. In addition, your service agency can help the end user save another control file TNC:\service\userfiles.sys. Control files have the following syntax: FOLDER [][-a=][-s=][-b] Saving all files of a directory. The effect of the command can be influenced by various parameters. The individual parameters must be entered in the described sequence. If more than one criterion is specified, all of the criteria must apply for the file to be saved. Event
Function
Directory that is to be searched for files to be saved. Only the specified directory is searched for files, and not the subdirectories.
[]
Optional parameter as a selection criterion for the file name. The wild cards * can be used for any number of characters, and the character ? can be used for exactly one character. Example: *.TXT, PGM12?.H If no parameter is entered, all files of the directory are saved.
[-a=]
Optional parameter for specifying the age of the files to be saved. Files that are older than the specified period of time will not be saved. for the time period: Input of a number for the unit of time: s = seconds m = minutes h = hours d = days Examples: -a=30s, -a=7d, -a=24h
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Event
Function
[-s=]
Optional parameter for specifying the size of the files to be saved. Files exceeding the specified size will not be saved. The parameter is to prevent that an NC program with 1 GB is saved, for example. for the size: Input of a number for the unit of size: B = byte k = kilobyte m = megabyte Examples: -s=100k, -s=1m
[-b]
Binary files are not converted to ASCII files. All binary files are saved in binary format.
SETUPFILE [-a=][-s=][-b] Saving a file whose name is saved in a system file. You can use the same parameters that are used for FOLDER. Event
Function
Specify one of the following keywords for the system files that are to be searched for the token: OEM (= PLC:\OEM.SYS) NCPATH (= SYS:\NCPATH.SYS) NCMACRO (= PLC:\NCMAKRO.SYS)
Enter the token under which the file to be saved is entered in the specified system file. Example: SETUPFILE OEM MPFILE, SETUPFILE NCMACRO PALETT
FILE [-a=][-s=][-b] Saving an individual file. You can use the same parameters that are used for FOLDER.
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Event
Function
Complete path and name of the file to be saved.
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INCLUDE When a file is specified, it is evaluated as another control file. In order to avoid that a file is specified twice, the INCLUDE statement must not be nested more than three levels.
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Event
Function
Complete path and name of the additional control file.
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1.2.5 Temporary Enabling of Software Options You now have the possibility of enabling software options with a temporary code number for a limited period of time. You can define a time between 10 to 90 days for enabling the software options. However, each option can only be enabled once with a temporary code number. If you want to enable a software option temporarily on the control via the temporary key, proceed in the same way as for the standard enabling of software options. Press the Set Option button or the SET OPTION soft key. This opens a window in which you can enter the code number for the desired software option in Enter Key Code. If the software option was enabled successfully, the expiration date of the temporary enabling is shown in the Expires column under SIK Options. After the defined period has expired, the entry in the Expires column will change to EXP standing for "expired." The software option is then no longer available. A software option can be enabled for an unlimited period at any time by means of the code number, which you will receive from HEIDENHAIN after stating the SIK number. HEIDENHAIN would like to point out that it is not possible to use the OEMspecific options with the SIKs of the first generation. If you encounter any problems in this respect, please contact your HEIDENHAIN service agency. You can generate the temporary code number with the TNCOEMOption tool for PCs. The tool is available for download free of charge from the HEIDENHAIN FileBase under “PC Software > Special Tools”. When you generate the code number, you must specify the number of the respective software option, the number of days you want to enable the option, and an optional OEM Key. The OEM Key provides protection against unauthorized persons generating code numbers for your machines with the help of the PC tool in order to enable software options without your approval. However, it is not essential to specify an OEM Key. The OEM Key for generating the code number must be identical to the OEM KEY on your control.
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The OEM Key was added to the display and management of the SIK options, Feature Content Level and General Key on the control. Press the MOD key and enter the code number SIK to display the input form for SIK functions: OEM Key The OEM Key on the control can only be used for enabling software options with a temporary code number if the same OEM Key was specified for the generation of the temporary code number. If the OEM Key on the control is not identical to the one used for generating the code number, the software option will not be enabled. Once the OEM Key has been set, it cannot be reset. Display
Meaning
OEM Key for temp. options
NONE
OEM Key was not set
SET
OEM Key was set
Set OEM Key
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Press the Set OEM Key button or the SET OEM KEY TEMP. OPT. soft key to open a window in which you can enter the OEM Key. Keep in mind that this process cannot be undone. The OEM Key may consist only of numbers. Confirm your entry by pressing the Apply button, or by pressing the SET OEM KEY TEMP. OPT. soft key again. If the OEM Key was set successfully, the message OEM Key has been set appears, and the status in OEM Key for temp. options changes to SET.
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1.2.6 Encrypted PLC Partition (PLCE:) The machine manufacturer now has the possibility to create an additional PLC partition, which is automatically encrypted. The PLCE: partition enables the machine manufacturer to protect his files and data from unauthorized access. The encrypted PLC partition PLCE: can only be accessed with a password that the OEM chooses. The password is stored in encrypted form either in the OEM.SYS file or in the SIK. Note HEIDENHAIN recommends: Storing the password in the SIK, because it provides a higher degree of security than the OEM.SYS. Using the PLCE partition generally only for specific files that are to be protected from unauthorized access. Against using the PLCE partition for system files (such as MP files, NCMACRO.SYS). Please keep in mind that HEIDENHAIN cannot access the data in the encrypted partition, even if servicing becomes necessary. When creating the PLCE: partition, you must specify the desired memory size (max. 100 MB) of the encrypted partition. Because the PLCE partition saved in the PLC:\PLCE.BIN file is a part of the PLC partition, the memory available on the PLC partition is reduced accordingly. Danger When you lose the password for the PLCE: partition, the data is permanently lost. Deleting the PLC:\PLCE.BIN binary file leads to loss of the data on PLCE: HEIDENHAIN does not have any possibility to access the data on the encrypted PLCE: partition. This also applies when servicing becomes necessary. The data of the encrypted PLCE: partition cannot be written to the service file. If the password is stored in the control, the NC software can access the data and files in the PLCE: partition at any time. The control can therefore run on the PLCE partition in the same way as on the standard PLC partition. The NC software automatically searches the PLC partition for files that it needs during run time. If the search is not successful and a PLCE partition exists, the search is continued in the PLCE partition. This does not apply to the OEM.SYS file itself, or to data and files that are called by using absolute paths (e.g. in PLC modules, OEM.SYS). The OEM.SYS file must always be stored in the PLC partition of the control. If data or files are called by using an absolute path, the NC software only searches the given path for the data or files. The search is not automatically continued in the other partition. Note Do not store the same files both in the PLC partition and the PLCE partition. 1 – 44
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All data or files on the PLCE partition are automatically encrypted and are therefore protected from unauthorized access. The only exception is the active machine-parameter file. If the active MP file is stored in the PLCE partition, it can nevertheless be edited when you switch to the Machine Parameter Programming mode of operation. Backup/Restore and PLCE
The control operator does not need to know the password to back up or restore the PLCE data. The encrypted content remains protected. When restoring a backup on a control, you must make sure that the password on the control (in the SIK or OEM.SYS) is identical to the password that was used for creating the PLCE.BIN file or the PLCE partition. To enable automatic updating of the PLCE partition through a restore process or software update, you must manually separate the PLCE partition before the restore process by using Unmount. You must keep the following in mind to ensure that the PLCE partition is successfully overwritten with the PLC:\PLCE.BIN file during a restore process or a software update: The password for the PLCE partition is stored in the SIK or OEM.SYS in the control. The password in the control matches the password in PLCE.BIN. The PLCE partition has been separated (Unmount). Enough memory capacity on the PLCE partition for new data available
Software update and PLCE
A software update can either contain the PLC:\PLCE.BIN file or the PLC:\_mpupdate\plce.zip file. If the software update contains a PLC:\PLCE.BIN file, the requirements described above under "Backup/Restore and PLCE" apply as well. If the software update contains a PLC:\_mpupdate\plce.zip file, the following requirements apply: The .zip file must be encrypted with the same password as the PLCE: drive. When the control is started up the next time, this file is unpacked and the corresponding files are copied to PLCE:. This .zip file can be created using PLCdesignNT with version 2.5 or later. Danger Please note that the encryption algorithm of this .zip file is less secure than encrypting the PLCE partition on the hard disk of the control. You must keep the following in mind to make sure that the data is transferred to the PLCE partition (with the PLC:\_mpupdate\plce.zip file) during a software update: The password for the PLCE partition is stored in the SIK or OEM.SYS in the control. The password in the control matches the password in plce.zip. The PLCE partition exists and is mounted (Mount). Enough memory capacity on the PLCE partition for new data available
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Automatic binary-to-ASCII conversion is not possible for the encrypted PLCE partition during a software update. This means that you must manually convert binary-coded files on the PLCE partition to ASCII format before a software update. After the software update, the files must be reconverted back to the binary format. To convert the files manually, proceed as follows:
Switch to the Machine Parameter Programming mode of operation.
Press the MOD key and then the UPDATE DATA soft key.
Use the CONVERT BIN -> ASC soft key to convert the files to ASCII format before a software update. Use the CONVERT ASC -> BIN soft key to convert the files back to binary format after the software update.
In order to avoid converting the files manually, you could also load the binarycoded files onto the PLCE partition after a software update. ENCCYC. ZIPNAME =
The possibility of machining with or without preset tables in OEM cycles can also be used with the encrypted PLCE partition. A separate directory is created on the PLCE partition for each cycle project (PLCE:\OEMCYC_ZIP\, PLCE:\OEMCY2_ZIP\, etc.), just as is done on the PLC partition. In the OEM.SYS, enter after the code word the name of the *.ZIP file to be unpacked. For example, this is for the PLCE partition: ENCCYC.ZIPNAME = ABC.ZIP, ENCCY2.ZIPNAME = DEF.ZIP, etc. The *.ZIP files contain all information for the cycles, including the directory structure. When the control is started up, the appropriate *.ZIP files are unpacked in the folders. The documentation for CycleDesign contains more detailed information.
PC tools and PLCE
Starting November 2007, HEIDENHAIN will offer the following new PC tools for working with the data of the encrypted partition: PLCdesignNT 2.5, PLCtext 4.2, CycleDesign 4.5 and TNCremoNT 2.6. The PLCE partition cannot be accessed until the correct password has been entered. Note At present it is not possible to create an encrypted PLCE: partition with the iTNC 530 programming station.
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In the PLC mode of operation, press the ADVANCED SETUP soft key and then the ENCRYPTED DRIVE soft key to call the settings of the encrypted partition. The following information and options are available on the Password tab:
Password – State: Display
Meaning
No password
Active if you have not yet assigned a password to the PLCE: partition.
Password stored in OEM.SYS
Active if the password for the PLCE: partition is saved in the OEM.SYS file.
Password stored in SIK
Active if the password for the PLCE: partition is saved in the SIK.
Password – Actions:
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Button
Meaning
Set password
Assign a password for access to the PLCE: partition.
Delete password
Delete the password for access to the PLCE: partition.
Move OEM.SYS -> SIK
Move the password for access to the PLCE: partition from the OEM.SYS file to the SIK.
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The following information and options are available on the Drive tab:
Drive – State:
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Display
Meaning
No encrypted drive
Active if no PLCE: partition has been created yet.
Encrypted drive, size = xxx MB
Active if PLCE: partition has been created. The size of the partition is indicated in [MB].
Drive is mounted
Active if PLCE: partition is mounted.
Drive is not mounted, but OK
Active if PLCE: partition is available, but not mounted.
Drive is not formatted or wrong password
Active if the PLCE: partition cannot be used because it is formatted incorrectly, or because the password is incorrect.
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Drive – Actions:
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Button
Meaning
Create Drive
The encrypted PLCE: partition is created and the size of the partition is indicated in [MB]. Only available if no PLCE: partition has been created yet. Maximum size: 100 MB Minimum size: 1 MB
Delete Drive
Delete the encrypted PLCE: partition. Only available if the PLCE: partition is not mounted.
Change Size
Change the size in [MB] of the PLCE: partition. Only available if the PLCE: partition is not mounted.
Mount
Mount the PLCE: partition. Only available if the PLCE: partition is not mounted.
Format
Format the PLCE: partition. Only available if the PLCE: partition is not mounted.
Unmount
Unmount the PLCE: partition. Only available if the PLCE: partition is mounted.
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Create and mount the PLCE partition
1. To assign a password to the encrypted partition, proceed as follows:
While in the Programming and Editing operating mode, press the MOD key.
Enter the code number 807 667 to switch to the PLC operating mode.
Press the ADVANCED SETUP soft key.
Press the ENCRYPTED DRIVE soft key.
Press the Set Password button under Actions. • In New Password: you enter a valid password for access to the encrypted partition. The password must be between 12 and 21 characters long. You can use numbers and special characters, but do not use any umlauts. The password is case sensitive. • Repeat the selected password in Verification: • In Store Password in you select whether the password is saved in the SIK or in the OEM.SYS. • Confirm your entry with the OK button. Note When entering the password, keep in mind that the password is case sensitive. HEIDENHAIN recommends storing the password in the SIK.
The control confirms the password by displaying the message Password has been set, and under State it shows where the password is stored. 2. To create an encrypted partition, proceed as follows:
Select the Drive tab.
Press the Create Drive button under Actions. • In Size:, you enter the desired size for the encrypted partition in [MB]. • Confirm your entry with the OK button.
The control confirms the creation of the PLCE: partition by displaying the message Encrypted drive has been created and changes the status under State to indicate that the partition has been created. The right column beneath State shows that the partition exists, but that it is not mounted. 3. To mount the encrypted partition, proceed as follows:
The newly created PLCE: partition must first be formatted: To perform the formatting process, press the Format button and then press the Apply button. Danger All data stored on the PLCE: partition are lost during the formatting process.
To mount the encrypted partition, press the Mount button and then press the Apply button.
The control confirms that the PLCE: partition has been mounted by displaying the message Encrypted drive has been mounted and changes the status under State to indicate that the partition has been mounted. 1 – 50
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Access to PLCE: by the user
The control operator cannot access the mounted PLCE: partition until he has entered the correct password for the PLCE partition.
While in the Programming and Editing operating mode, press the MOD key.
Enter the password for the encrypted PLCE: partition.
If you then press the PGM MGT key, the iTNC displays the PLCE: partition in the directory structure on the left side of the screen. If the PLCE partition is displayed in the File Management, files and data can be handled in the same way as in all other partitions (e.g. move, delete, rename). Encryption is automatic.
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1.2.7 SIK Options for the OEM With software 340 49x-04, the SIK options #101 to #130 are available as OEMspecific options. You can assign your own OEM-specific software options to these options. This makes it possible for you to enable your own applications (e.g. cycles) for the end user via the SIK from HEIDENHAIN. The options can be enabled by entering a code number. HEIDENHAIN can give you the code number after having been informed of the SIK number. You also have the possibility of creating a temporary key for these OEM-specific options in order to enable the options for a period of max. 90 days. HEIDENHAIN would like to point out that it is not possible to use the OEMspecific options with the SIKs of the first generation. If you encounter any problems in this respect, please contact your HEIDENHAIN service agency. The new PLC module 9067 enables you to request the status of the SIK options. Use this module to request information from the SIK about whether certain software options are enabled via the SIK. Depending on the response, you can activate the software option via the PLC program.
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1.2.8 Window Manager The Window Manager XFCE for the graphic interface of the control will be introduced with software version 04. The Window Manager XFCE is a standard Window Manager for UNIX-based operating systems. It provides the following functions: Optional taskbar for switching between various applications (user interfaces). Additional desktop on which the machine tool builder's applications can be run. Controlling the focus between NC-software applications and those of the machine tool builder. The size and position of pop-up windows can be changed. It is also possible to close, minimize and restore the pop-up windows. Basic configuration
The Window Manager is supplied with two default configurations (FULL and SIMPLE). The configuration of the Window Manager can be changed at any time by using the XFCE configuration dialog. The SIMPLE configuration neither has a taskbar, nor a background image for the 3rd desktop. As a result, the TNC software with Window Manager differs only very slightly from the NC software version without Window Manager. The FULL configuration has a taskbar, however. HEIDENHAIN recommends using the taskbar of the Window Manager only on controls equipped with a mouse or a touch pad. If a software version with Window Manager is installed on a control for the first time, the PLC:\WINDOWMANAGER directory does not exist. It is created when the NC software is started up for the first time, and the SIMPLE configuration is active. If you delete the PLC:\WINDOWMANAGER directory, the directory is created again during the next startup of the NC software and the SIMPLE configuration is active. If TNCRemoNT is used to transfer the PLC partition between the programming station and a single-processor or dual-processor version, the configuration of the Window Manager (PLC:\WINDOWMANAGER directory) is also transferred. The configuration is portable, except for the position of the XFCE taskbar (also called TNC taskbar). On a dual-processor control, the TNC taskbar is moved to the opposite side of the screen if it displayed at the same position as the Windows taskbar, which is usually at the bottom of the screen. If a Window Manager configuration exists, it is retained when the NC software is reinstalled (software update).
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To call the configuration of the Window Manager, press the ADVANCED SETUP soft key and then the CONFIGURE WINDOW-MANAGER soft key.
If you press the LOAD MINIMUM CONFIG soft key and confirm the following confirmation prompt, the current configuration of the Window Manager will be overwritten with the SIMPLE configuration. If you press the LOAD MAXIMUM CONFIG soft key and confirm the following confirmation prompt, the current configuration of the Window Manager will be overwritten with the FULL configuration. If you do not want to load any configuration, press the LOAD CUSTOMIZED CONFIG soft key. This starts the XFCE configuration dialog in which you can edit the current configuration. Configuration with XFCE
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If you want to create your own configuration containing the TNC taskbar, you should first activate the FULL configuration. If you do not want your configuration to contain the TNC taskbar, first select the SIMPLE configuration. Do not start the XFCE configuration until you have activated the respective basic configuration. The two supplied basic configurations SIMPLE and FULL are only changed temporarily when you configure the Window Manager using the LOAD CUSTOMIZED CONFIG soft key. The files containing the two basic configurations are stored in the control and remain unchanged. This means that you can call the basic configurations at any time by pressing the LOAD MINIMUM CONFIG soft key or the LOAD MAXIMUM CONFIG soft key. Direct saving of your own configurations is not possible. However, you can save your own configurations by saving the complete PLC:\WINDOWMANAGER
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directory via TNCremoNT, for example. If you copy the PLC:\WINDOWMANAGER directory to other controls, the configuration saved in the directory will become active.
The XFCE configuration dialog provides the following configuration options: Desktop – Appearance The DESKTOP button and the Appearance tab of the XFCE configuration dialog enable you to define a background color and background images, which do only become effective on the 3rd desktop (machine tool builder) or the desktops after the 3rd one. The background image from OEM.SYS is shown on the first two desktops (Edit, Machine). Note Additional background images (i.e. images that are not supplied) should always be saved in the PLC:\WINDOWMANGER\BACKDROPS directory. Saving the background images in this directory ensures that the path of the selected background image is adjusted to the configuration when backup/ restore functions are executed between the programming station and dualprocessor or single-processor controls. Desktop – Behavior This function is not yet supported. In the future, the DESKTOP button and the Behavior tab of the XFCE configuration dialog will enable you to change the size of the desktop icons. Window Manager – Style The Windows Manager button and the Style tab of the XFCE configuration dialog enable you to influence the layout of the windows. You can edit the font size of the window titles, the orientation of the window headers, the design of the window frames, etc. Window Manager – Advanced The Windows Manager button and the Advanced tab of the XFCE configuration dialog enable you to influence the behavior of the windows.
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Workspaces and Margins To define the number of possible desktops and their names, use the Workspaces and the Margin buttons of the XFCE configuration dialog. Note A minimum of two desktops (Edit and Machine) must be defined in Number of Workspaces. Configuration of the TNC taskbar
The TNC taskbar appears when you move the mouse pointer to the position of the taskbar (standard setting: at bottom of screen). When the mouse pointer is located over the TNC taskbar, press the right mouse key to open the context menu for the configuration.
When the FULL configuration is active, the TNC taskbar contains the following element buttons (from left to right): 1: Show desktop button 2: Pager for switching between the desktops and for moving windows between the desktops with "drag and drop". 3: Task list (shows all open windows) 4: Context menu for configuring the TNC taskbar 5: Time To configure the TNC taskbar, proceed as follows:
Press the ADVANCED SETUP soft key in the PLC operating mode.
Press the CONFIGURE WINDOW MANAGER soft key.
Move the mouse pointer over the position of the TNC taskbar until it appears.
Place the mouse pointer over the TNC taskbar and press the right mouse key. To edit the properties of an element in the taskbar, place the mouse pointer over the respective button in the taskbar. This opens the context menu for configuring the TNC taskbar and the selected element.
The context menu provides the following configuration options: Properties Change the properties of the selected element. Move Change the sequence of the buttons in the taskbar. Customize Panel Change the properties of the complete TNC taskbar.
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1.2.9 KinematicsOpt Accuracy requirements are becoming increasingly stringent, particularly in the area of 5-axis machining. Complex parts are required to be manufactured with precision and reproducible accuracy even over long periods. The new TNC function KinematicsOpt is an important component that helps you meet these complex requirements: A 3-D touch probe cycle measures the rotary axes on your machine fully automatically, regardless of whether they are used in rotary-table or head configurations. A calibration ball is fixed at any position on the machine table, and measured with a resolution that you define. In the cycle definition, you only have to define for each rotary axis the area that you want to measure. From the measured values, the TNC calculates the static tilting accuracy. The software minimizes the spatial error arising from the tilting movement and, at the end of the measurement process, automatically saves the machine geometry in the respective machine constants of the kinematics table. Functions
Testing the static tilting accuracy by probing different points on a calibration ball with a 3-D workpiece touch probe. Optimizing the static tilting accuracy by adjusting the kinematics description. Backing up and restoring the kinematics data that can be changed with this software.
Prerequisites
The software options #48 (KinematicsOpt) and #8 (software option 1) must be enabled. Feature Content Level (FCL) 3 or higher must be enabled. The 3-D touch probe used for the measurement must be calibrated. A calibration ball with an exactly known radius and sufficient rigidity must be attached to the machine table. The kinematics must be described in the new table format (columns: KEY, AXIS, COORD, ...) The kinematics description of the machine must be complete and correct. The transformation values must be entered with an accuracy of approx. 1 mm. All machine axes involved must have adequate positioning accuracy. The geometry of the machine must have been measured. The machine datum (MP960.x) must be defined for the rotary axes (is not measured in the cycle). The machine parameters MP6600 and MP6601 must be defined.
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Kinematics description
In the optimizing mode, the linear offsets (compensation translations) are adjusted to the kinematics description. Please note that two compensation transformations defining the position (not the angular position) of the rotary axis must be defined for every rotary axis. The definitions of the two translations required for the position of the rotary axis must directly precede the definition of the machine axis. KinematicsOpt searches the last three translations defined before the rotary axis for two suitable compensation translations. However, the search is automatically canceled if another rotary axis is defined between the three last translations. Example of a correct kinematics description with a B head and C table: NR
KEY
AXIS COORD
xx
Trans
X
+100.014
xx
Trans
Z
+299.951
xx
MachAxis
B
xx
Trans
Z
-600.142
xx
Trans
X
+300.021
xx
Trans
Y
-251.191
xx
MachAxis
C
Search range for two suitable translations for the B axis
Search range for two suitable translations for the C axis
Example of an incorrect kinematics description with a B head and C table: Incorrect position for the Y translation of the C axis:
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NR
KEY
AXIS COORD
xx
Trans
X
+100.014
xx
Trans
Y
-251.191 Errors
xx
Trans
Z
+299.951
xx
MachAxis
B
xx
Trans
Z
-600.142
xx
Trans
X
+300.021
xx
MachAxis
C
Search range for two suitable translations for the B axis
Search range for two suitable translations for the C axis
HEIDENHAIN Technical Manual iTNC 530
Example of changes in the kinematics description with a B head and optional C table: NR
KEY
AXIS COORD
0
TOOLFILE
-->
No changes
2
CMO
-->
No changes
3
Trans
X
+0.01
-->
+0.006
4
Trans
Y
+0
-->
+0
6
Trans
Z
+250.02
-->
+250.034
7
MachAxis
B
-->
No changes
8
MachAxis
Z
-->
No changes
9
MachAxis
Y
-->
No changes
10
MachAxis
X
-->
No changes
11
SUBFILE1
X
-->
No changes
12
Trans
X
-->
No changes
+0
COORD (compensations)
[END] SUBFILE1: NR
KEY
AXIS COORD
0
Trans
Z
-655.045 -->
1
Trans
X
+440.01
-->
+440.006
2
Trans
Y
+250.02
-->
+250.034
3
CMO
-->
No changes
4
MachAxis
-->
No changes
5
CMO
-->
No changes
C
COORD (compensations) No changes
[END] Tolerance limit
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The tolerance limit prevents you from accidentally making major changes to the kinematics description. Whenever optimization requires a major change, a message appears and the change must be confirmed with NC start. The tolerance limit must be permanently defined in MP6600.
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Ball radius
The measured probe radius is checked. The permissible deviation is defined in MP6601. This monitoring feature also detects incorrect probing caused by contamination.
Danger After optimization the position of the presets relative to the workpiece may have changed. It is essential that you check or reset the datum points. Touch probe cycle 450 (SAVE KINEMATICS)
Use this cycle to save the values of the active kinematics description in order to be able to restore the active kinematics description if required. For a detailed description of Cycle 450 SAVE KINEMATICS, refer to the Touch Probe Cycles User's Manual. Note As a machine tool builder, you can save the shipping data for example. You enter the standard PLC code number (807667) and save the data to any memory location. When the software 340 49x-04 is reinstalled, the backup file of the kinematics description that was created with Cycle 450 is overwritten. After installing the software, you must save the kinematics description again with Cycle 450 if required.
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Touch probe cycle 451 (MEASURE KINEMATICS)
The MEASURE KINEMATICS cycle enables you to check and, if required, optimize the kinematics of your machine. Use the 3-D TS touch probe to measure any calibration ball that you have attached to the machine table. For a detailed description of Cycle 451 MEASURE KINEMATICS, refer to the Touch Probe Cycles User's Manual. Backlash: The Touch Probe Cycles User's Manual provides more detailed information. Depending on the value defined in machine parameter MP110.x, the backlash of the axis is measured in Test mode. The value 0 in MP110.x defines that backlash is to be measured. Protocol function: The Touch Probe Cycles User's Manual provides more detailed information. In addition, the cycle creates axis-specific protocols in tabular format. The files are saved as TCHPR451_.A in PLC:. The columns created may vary depending on the conditions for measurement. For example, if the Optimize mode was selected in Cycle 451, only optimized values are output. If the following designations are used, the measured data are referenced to the coordinate system tilted at the axis angle: PA = primary axis SA = secondary axis TA = tool axis (spindle axis) If the designation contains the expression "REF", the values are referenced to the machine-coordinate system. This data can be imported for evaluation (e.g. in TNCscope, Excel). TNCscope: Open the file in TNCscope by selecting:
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File – Import Table. Then select the file to be opened.
The Import Table dialog box opens.
Select Fixed sampling interval and enter the value 1 ms in the Time unit field.
Select "/" as the column separator and confirm your entry with OK.
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Measured and optimized deviations (simulated measured data / displayed with TNCscope):
Optimized deviations as a function of the position of the rotary axis (simulated measured data / displayed with TNCscope):
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Positioning direction: The positioning direction of the rotary axis to be measured is determined from the start angle and the end angle. Because +270° is identical to –90° for example, the same angles can result in different measuring positions. Example: Start angle = –90° End angle = +90° Measuring points = 4 Stepping angle = (end angle – start angle) / (measuring points – 1) = (90° - –90°) / 3 = +60° Therefore: P1 = –90°; P2 = –30°; P3 = +30°; P4 = +90° Start angle = +270° End angle = +90° Measuring points = 4 Stepping angle = (end angle – start angle) / (measuring points – 1) = (90° - 270°) / 3 = –60° Therefore: P1 = –90°; P2 = –120°; P3 = –210°; P4 = –270°
Hirth axes: The cycles use the value entered in MP420 or MP430 to determine whether the respective axis is a rotary axis or a Hirth axis. The Touch Probe Cycles User's Manual provides more detailed information.
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Programming station: The cycle recognizes whether a programming station is being used. Because it is not possible to measure real data on a programming station, the measured data are simulated. Simulated measured data as a function of the position of the measuring axis (C axis):
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HEIDENHAIN Technical Manual iTNC 530
1.2.10 Diagnostic Functions The diagnostic functions of the iTNC were completely revised. The iTNC 530 up to and including software version 340 49x-03 provided the following diagnostic functions for error diagnosis, which were available after pressing the DIAGNOSIS soft key. The following table compares the organization of the diagnostic functions in software 340 49x-03 and lower with the organization in software 340 49x-04 and higher. The majority of the known diagnostic functions has been implemented in the new diagnostic tool DriveDiag. DriveDiag significantly improves the performance range of diagnosis in the control. None of the known functions was removed, but some of them are only available outside the DriveDiag tool. Also, DriveDiag improves clarity and ease of use of the diagnostic functions.
Soft key
Soft key
Soft key
Function
Replaced by BUS DIAGNOSIS soft key Remains available The integrated oscilloscope is started Replaced by DRIVE DIAG
The following soft keys only appear if the Power Interrupted message was not acknowledged, and if the code number 688379 or 807667 was entered. The integrated oscilloscope for commissioning the current controller is started. For more detailed information, refer to the Technical Manual of your control. Replaced by DRIVE DIAG. Remains available (only after the code number has been entered).
The file TNC:\herosdiagnose.txt is created after pressing this soft key. HEIDENHAIN uses this file for diagnosis of the operating system.
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The iTNC 530 with software version 340 49x-04 and higher provides the following diagnostic functions for error diagnosis. To call the diagnostic functions:
While in the Programming and Editing operating mode, press the MOD key.
Press the DIAGNOSIS soft key.
The following diagnostic functions are available: Soft key
Soft key
Soft key
Function
After pressing this soft key, you can test various HSCI and Profibus settings, provided that you are using one of the two bus systems. After pressing this soft key, you can test various Profibus settings, provided that you are using a Profibus system. After pressing this soft key, you can test various HSCI settings, provided that you are using an HSCI system. Various drive diagnosis functions can be selected after pressing this soft key. Before selecting the diagnostic function, under Supply unit you must select the power supply unit being used, so that the signals present are not interpreted as errors. The integrated oscilloscope is started. The diagnosis tool DriveDiag is opened, see page 1 – 67. The following soft keys only appear if the Power Interrupted message was not acknowledged, and if the code number 688379 or 807667 was entered. The integrated oscilloscope for commissioning the current controller is opened. The file TNC:\herosdiagnose.txt is created after pressing this soft key. HEIDENHAIN uses this file for diagnosis of the operating system.
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DriveDiag
The diagnosis tool DriveDiag is available on iTNCs 530 with software version 340 49x-04 and higher. To start DriveDiag:
While in the Programming and Editing operating mode, press the MOD key.
Press the DIAGNOSIS soft key.
Press the DRIVE DIAGNOSTICS soft key.
Press the DRIVE DIAG soft key.
This opens an additional task for the DriveDiag diagnosis tool. The structure of the drive system is displayed on the left side of the screen in a tree structure. Detailed information on the currently selected component is displayed on the right side of the screen. To navigate within the tree structure (left side of screen) and the tabs (right side of screen), use the arrow keys. Use the ENT key to move from the left side of the screen to the right side of the screen. Use the END key to move from the right side of the screen back to the left side of the screen. If the cursor is already located on the left side of the screen, you can exit DriveDiag with the END key.
To switch back to the screen of the control or to DriveDiag, press the screen switchover key.
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Icon
Icon
Icon
Function
Machine: Higher-level folder containing all components of the complete machine Connection: Internal IP address (127.0.0.1) Main computer, see page 1 – 69 Power supply unit, see page 1 – 74 Information about ID label and status Axis (e.g. X, Y, Z, etc.), see page 1 – 76 Higher-level folder containing all axis components
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Main computer Icon
Icon
Icon
Function
Main computer Version tab: Control model: Type of control NC software: Installed NC software version PLC software: PLC software being used Main computer Status tab: Status information about various signals, see page 1 – 70 Drive control board x Version tab: Speed controller software: Installed speed-controller software version Current-controller software: Installed current-controller software version Hardware code: Additional information for identifying the hardware (only CC 422). Version of additional info: Date and time of installation Degree of support: Degree of support for controller software SG software available: Information about whether the installed software supports functional safety SG software active: Functional safety is activated/deactivated Drive control board x Voltages and currents tab: Supply voltage +5V: Current value of voltage in [V] DC-link voltage: Current value of voltage in [V] DC-link current: Current value of current in [A] DSP computer board temp.: Current temperature value on the DSP computer board in [°C] Supply voltage +15V: Current value of voltage in [V] Supply voltage –15V: Current value of voltage in [V] Supply voltage +3.3V: Current value of voltage in [V] Auxiliary voltage UL: Current value of voltage in [V] Auxiliary voltage UH: Current value of voltage in [V] Drive control board x Status tab: Status information about various signals, see page 1 – 72
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Meanings of the signals under "main computer / status" Signal
Meaning
Colors
External enabling signals Acknowledgment: Control is ready (–NE1)
The NE1 signal (emergency stop input 1, Gray: No information about the signal available MC) is active if a 0 level is present (low active). For the iTNC 530 the Green: Signal is not active, corresponding input is at connector X42/ enabled I3 (PLC input), and is looped to the MC as Red: Signal is active, not enabled a hardware line.
External signals from MC Gray: No information about the signal available Green: Signal is active Red: Signal is not active
Ref. signal of spindle (X30)
For more detailed information, refer to "Input: Spindle Reference Signal" in the Technical Manual.
Trigger signal (X12) of TS touch probe
For more detailed information, refer to Gray: No information about the signal available "X12: Connecting the Touch Probe" in the Technical Manual. Green: Signal is active Red: Signal is not active
Battery (X12) of TS touch probe
For more detailed information, refer to Gray: No information about the signal available "X12: Connecting the Touch Probe" in the Technical Manual. Green: Signal is not active, warning Red: Signal is active, no warning
TS touch probe is ready (X12)
For more detailed information, refer to Gray: No information about the signal available "X12: Connecting the Touch Probe" in the Technical Manual. Green: Signal is active Red: Signal is not active
Trigger signal For more detailed information, refer to Gray: No information about the signal available (X13) of TT probe "X13: Connecting the Touch Probe" in the Technical Manual. Green: Signal is active Red: Signal is not active TT touch probe ready (X13)
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For more detailed information, refer to Gray: No information about the signal available "X13: Connecting the Touch Probe" in the Technical Manual. Green: Signal is active Red: Signal is not active
HEIDENHAIN Technical Manual iTNC 530
Signal
Meaning
Colors
MC internal signals and status Current ctrlr commissioning mode
The signal is active if the control is in the Gray: No information about the signal available operating mode for adjusting the current controller. Green: Operating mode for adjusting the current controller is active Red: Operating mode for adjusting the current controller is not active
Power interruption acknowledged
The signal is active if the Power interrupted message has been acknowledged with the CE key.
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Gray: No information about the signal available Green: Power interruption was acknowledged Red: Power interruption was not acknowledged
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Meanings of the signals under "drive control board / status" Signal
Meaning
Colors
External enabling signals Drive enable (–NE2)
The NE2 signal (emergency stop input 2, Gray: No information about the signal available CC) is active if a 0-level is present (low active). For the iTNC 530 the Green: Signal is not active, corresponding input is at connector X42/ enabled I32 (PLC input), and is looped to the CC as Red: Signal is active, not enabled a hardware line.
Powerfail
The PF signal shows the status of the Gray: Information does not exist “effective” powerfail signal for the drive Green: Enabled, PF is inactive controller. The signal is the result of (1-level) gating the PF.PS.ZK (dc-link powerfail) Red: PF is active (0-level): the dcand PF.PS.AC (AC fail) signals. The gating link voltage has decreased below process can be defined in the machine a permissible (inverter-specific) level or the phase monitoring parameters and in the PLC. responded; not enabled
X50 Machine On
No longer relevant in the current HEIDENHAIN controls.
Gray: Information does not exist
MC is ready (–WD) This signal shows that the MC is ready for Gray: Information does not exist control. This signal is a possible reason Green: Enabled: ME not active that the power module was switched off (1-level) via SH1. Red: Not enabled: WD1 is active (0-level), the MC’s watchdog is not retriggered. This signal is relayed to the inverter as SH1 (SH1 also has other signal sources). Powerfail (DC)
The signal is generated at the inverter, Gray: Information does not exist and is led via the supply bus to the drive Green: Enabled: Powerfail (DC) is controller. The input at the drive controller inactive (1-level) is displayed. Depending on the wiring, Red: Not enabled: Powerfail (DC) either this signal or Powerfail (AC) is is active (0-level): the dc-link relayed on the controller PCB to the voltage has decreased below a permissible (inverter-specific) powerfail signal. level.
Powerfail (AC)
The signal is generated at the inverter, Gray: Information does not exist and is led via the supply bus to the drive Green: Enabled: Powerfail (DC) is controller. The input at the drive controller inactive (1-level) is displayed. Depending on the wiring, Red: Not enabled: Powerfail (AC) either this signal or Powerfail (DC) is is active (0-level), phase relayed on the controller PCB to the monitoring responded, at least powerfail signal. Powerfail one power supply phase failed (AC)Powerfail (AC) does not exist for all supply units (e.g. not for UV 130).
Internal enabling signals
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Signal
Meaning
Switch-off (speed 0)
This signal causes all axes to be switched Gray: No information about the signal available off or locked at zero level. Thus the drives of all control boards are switched off or Green: Enabled: –N0 inactive (1locked. level) Red: Not enabled: –N0 active (0level); all drives are locked
CC controller ready
If no error is present in the drive controller Gray: No information about the signal available and the controller unit was started, “ready for control” is reported. Green: Enabled: CC is ready for control Red: Not enabled
Clearable DSP error
Clearable DSP errors are 2nd class errors Gray: No information about the signal available (such as motor temperature). The CC can only resume control after the error has Green: Enabled: There is no been cleared (by pressing the CE key). (clearable) 2nd class error Red: Not enabled: A 2nd class error is present
Watchdog current controller
This signal is activated by the current controller’s watchdog. It affects SH2 on the power stage via the PWM interface.
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Colors
Gray: No information about the signal available Green: Enabled: Current controller watchdog OK Red: Not enabled: Current controller watchdog is active (0level). No pulse release from the current controller via the PWM interface
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Power supply unit Icon
Icon
Icon
Function
Power supply unit ID Label tab, see page 1 – 86: Plug and Play: Information about whether the device is Plug and Play capable Device: Designation of the device Model: Designation of the type of unit Serial number: Serial number of the unit ID number: HEIDENHAIN ID of the unit Power supply unit Status tab: Status information about various signals, see page 1 – 70 Meanings of the signals under "supply unit / status" Signal
Meaning
DC-link voltage
Current value of voltage in [V]
DC-link current
Current value of current in [A]
Powerfail
The PF signal shows the status of the Gray: Information does not exist “effective” powerfail signal for the drive Green: Enabled, PF is inactive controller. The signal is the result of (1-level) gating the PF.PS.ZK (dc-link powerfail) Red: PF is active (0-level): the dcand PF.PS.AC (AC fail) signals. The gating link voltage has decreased below process can be defined in the machine a permissible (inverter-specific) level or the phase monitoring parameters and in the PLC. responded; not enabled
Powerfail (DC)
The signal is generated at the inverter, Gray: Information does not exist and is led via the supply bus to the drive Green: Enabled: Powerfail (DC) is controller. The input at the drive controller inactive (1-level) is displayed. Depending on the wiring, Red: Not enabled: Powerfail (DC) either this signal or Powerfail (AC) is is active (0-level): the dc-link relayed on the controller PCB to the voltage has decreased below a powerfail signal. permissible (inverter-specific) level.
Powerfail (AC)
The signal is generated at the inverter, Gray: Information does not exist and is led via the supply bus to the drive Green: Enabled: Powerfail (DC) is controller. The input at the drive controller inactive (1-level) is displayed. Depending on the wiring, Red: Not enabled: Powerfail (AC) either this signal or Powerfail (DC) is is active (0-level), phase relayed on the controller PCB to the monitoring responded, at least powerfail signal. Powerfail (AC) does not one power supply phase failed exist for all supply units (e.g. not for UV 130).
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HEIDENHAIN Technical Manual iTNC 530
Signal
Meaning
Colors
DC-link voltage>> The signal reports the status of the dc-link Gray: No information about the signal available voltage: Either it is OK or too high. This signal also switches off all power Green: DC-link voltage OK modules (via the unit bus). Red: DC-link voltage too high Possible error causes: Missing or faulty braking resistor Excessive braking power Temperature
The signal reports the status of the heat Gray: No information about the signal available sink temperature in the inverter: Either it is OK or too high. Green: Temperature OK Red: Temperature too high
DC-link current >> The signal reports the status of the dc-link Gray: No information about the signal available current: Either it is OK or too high. Both the positive and the negative dc-link Green: DC-link current OK currents are evaluated. Red: DC-link current too high Power supply unit ready
The signal reports the ready status of the Gray: No information about the signal available supply unit: Supply unit OK, Main contactor on, or Supply unit not ready. Green: Supply unit OK, Main contactor on Red: Power supply unit not ready
Ground fault
The signal reports the status of the Gray: No information about the signal available leakage current monitoring: Either it is OK or too high or there is a ground fault. Green: Leakage current is OK Red: Leakage current too high or ground fault
Reset from CC to UV
Signal –RES.LE. Reset from controller unit to supply module. Resets the error memory in the supply module.
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Gray: No information about the signal available Green: Reset signal is not active Red: Reset signal is active
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X, Y, Z, etc. (axis) Icon
Icon
Icon
Function
X, Y, Z, etc. (axis) Higher-level folder containing all axis components Status Speed Controller tab: Status information about various signals, see page 1 – 79 Status Position Controller tab: Status information about various signals, see page 1 – 82 Status PLC tab: Status information about various signals, see page 1 – 83 Motor ID Label tab, see page 1 – 86: Plug and Play: Information about whether the device is Plug and Play capable Device: Designation of the device Model: Designation of the type of unit Serial number: Serial number of the unit ID number: HEIDENHAIN ID of the unit Brake present: Information about whether the motor has a brake Motor Motor Data tab: Information about motor-specific data from the motor table Motor Result tab: Information about motor data derived from the motor table or from the machine-parameter file • Motor constant [Nm/A]: Internal reference value that indicates the ratio of torque to current (= torque constant). • Voltage constant: Internal reference value that indicates the ratio of no-load voltage to rated speed. • Field angle [°]: Value converted to [°] for the corresponding entry from the MP file (MP2256.x).
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Icon
Icon
Icon
Function
Power stage ID Label tab, see page 1 – 86: Plug and Play: Information about whether the device is Plug and Play capable Device: Designation of the device Model: Designation of the type of unit Serial number: Serial number of the unit ID number: HEIDENHAIN ID of the unit Power stage Status tab: Status information about various signals, see page 1 – 85 EnDat rotational speed encoder Depending on the functions provided by the encoder, the submenus status, diagnosis and temperature are available. EnDat rotational speed encoder Depending on the functions provided by the encoder, the submenus status, diagnosis and temperature are available. EnDat position encoder Depending on the functions provided by the encoder, the submenus status, diagnosis and temperature are available. EnDat 2.2 position encoder Depending on the functions provided by the encoder, the submenus status, diagnosis and temperature are available. Status Status information about various signals, see page 1 – 84 Diagnostics The function reserves are evaluated, which provide an exact overview of the current status of the encoder. The three values displayed inform the user at a glance of the encoder performance. In the yellow range, fault-free operation is no longer guaranteed. The encoder should be checked. If required, assistance can be provided by your HEIDENHAIN service agency. Temperature The temperature information provided by the temperature sensors in the encoder and the motor is displayed.
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Icon
Icon
Icon
Function
Motor encoder test (available only after the code number 688379 or 807667 has been entered) Diagram tab: After the test has been completed, the result is displayed in a diagram. Two green lines in the diagram mark the minimum and maximum height of the speed encoder signals. The red line shows the measured signals. Motor encoder test Overview tab: Begin the test by pressing the START MEASUREMENT button. Status information about various signals, see page 1 – 85 The plain text displayed in the lower part of the screen provides additional information about the test results. Position encoder test Diagram tab: After the test has been completed, the result is displayed in a diagram. Two green lines in the diagram mark the minimum and maximum height of the speed encoder signals. The red line shows the measured signals. Position encoder test Overview tab: Begin the test by pressing the START MEASUREMENT button. Status information about various signals, see page 1 – 85 The plain text displayed in the lower part of the screen provides additional information about the test results. Drive test (available only after the code number 688379 or 807667 has been entered) Test tab: Begin the test by pressing the START MEASUREMENT button. Status information about various signals, see page 1 – 86 The plain text displayed in the lower part of the screen provides additional information about the test results.
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Meanings of the signals under "status / speed controller" Signal
Meaning
MC enabling marker
The MC can accelerate the switch-off via Gray: No information about the signal available this marker. Green: Enabled Red: Not enabled
Colors
X150/X151 Drive enabling
The signal shows the enabling status for Gray: No information about the signal available the “X150/X151” switch-off. The signal is formed from the status of the inputs Green: Enabled: There is currently no switch-off via X150/X151 and the setting in MP2040.x. X150/X151 Red: Not enabled: The drive is currently switched off or locked via X150/X151
Drive enabling from speed controller
This signal is a group signal for all hardware enabling signals from the speed controller.
Gray: No information about the signal available Green: Enabled Red: Not enabled
Drive enabled by software
This signal is a group signal for all hardware enabling signals from the software.
Gray: No information about the signal available Green: Enabled Red: Not enabled
Internal drive status
Gating of all ready signals (external, internal and software)
Gray: No information about the signal available Green: Enabled Red: Not enabled
Power module active (–SH2)
The signal shows the status of the SH2 line to the power module. The CC activates/deactivates this line for switching off the power module.
Gray: No information about the signal available Green: Enabled: The SH2 signal is inactive Red: Not enabled: The SH2 signal is active
Current controller active
The signal shows the status of the current controller. The current controller is either switched on (in control) or switched off.
Gray: No information about the signal available Green: Enabled: Current controller is on (in control) Red: Not enabled: Current controller is off
Speed controller active The signal shows the status of the speed Gray: No information about the signal available controller. The speed controller is either switched on (in control) or switched off. Green: Enabled: Speed controller is on (in control) Red: Not enabled: Speed controller is off
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Signal
Meaning
Colors
Gray: No information about the signal available Green: Field angle has been determined Motor with rotary encoder without Z1 Yellow: Field angle has track (incl. linear motors) before the been roughly determined first “Drive on” status Non-aligned rotary encoder with EnDat Dark gray: Field angle has not been determined interface (incl. linear motors), if the field angle has not yet been determined
Rotor position captured This signal gives information about determining the field angle: Drive is not oriented:
Drive is roughly oriented: Motor with rotary encoder without Z1 track (incl. linear motors) after the first “Drive on” status Motor with rotary encoder with Z1 track after it has been read Drive is oriented: Motor with rotary encoder with Z1 track after traversing the reference mark Aligned rotary encoder with EnDat interface immediately after switch-on Non-aligned rotary encoder with EnDat interface immediately if the field angle has already been determined Motor with rotary encoder without Z1 track after traversing the reference mark if the field angle has already been determined Switching on speed controller
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This signal indicates whether the speed Gray: No information about the signal available encoder has been switched on since the last time the Power interrupted Dark gray: Speed controller has not been switched on message was active. Status changes are yet (since power saved. interruption) Green: Speed controller is currently being switched on Yellow: Speed controller was switched on once (this does not mean, however, that the speed controller is currently on)
HEIDENHAIN Technical Manual iTNC 530
Signal
Meaning
Switching off speed controller
This signal indicates whether the speed Gray: No information about the signal available encoder has been switched off since the last time the Power interrupted Dark gray: Speed controller message was active. Status changes are has not been switched off yet (since power saved. interruption) Green: Speed controller is currently being switched off Yellow: Speed controller was switched off once (this does not mean, however, that the speed controller is currently off)
Brake released
This signal shows the status of the motor Gray: No information about the signal available brake signal on the PWM bus. This signal is led on the power module via a relay to Green: Brake released the motor. Red: Brake active
I2t warning
This signal shows the current and stored Gray: No information about the signal available status of the I2t monitoring. Green: No I2t warning up to now Yellow: There was already (since switch-on) an I2t warning, but there is no current warning Orange: There is a current I2t warning
Torque ripple
The signal indicates the status of torque- Gray: No information about the signal available ripple compensation. Green: Compensation is active Red: Compensation is not active
Acceleration feedforward control
The signal shows the status of acceleration feedforward control (MP1392 or 1391.1, depending on the selected mode of operation).
December 2007
Colors
NC Software 340 49x-04
Gray: No information about the signal available Green: Feedforward control is active Red: Feedforward control is not active
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Meanings of the signals under "status / position controller" Signal
Meaning
Colors
Position control loop closed
Corresponds to PLC word W1024 for a specific axis. Information about whether the position control loop is closed or open.
Gray: No information about the signal available Green: Position control loop closed Red: Position control loop open
Position looped
The signal indicates whether the axis is operated with position feedback control or speed feedback control.
Gray: No information about the signal available Green: Axis is operated with position feedback control Red: Axis is operated with speed feedback control
Nominal position value filter
The signal indicates whether the nominal Gray: No information about the signal available position value filters are active. Green: Nominal position value filter is active Red: Nominal position value filter is not active
Position controller limit
The signal indicates whether "eliminate following error" is active.
Gray: No information about the signal available Green: Output limit is active Red: Output limit is not active
CC monitoring active
The signal indicates whether followingerror monitoring is active (can be deactivated by PLC, W1042).
Gray: No information about the signal available Green: Following-error monitoring is active Red: Following-error monitoring is not active
Touch probe active
The signal indicates whether probing is active.
Gray: No information about the signal available Green: Probing is active Red: Probing is not active
Reference pulse active
The signal indicates whether the MC expects a reference pulse (host command).
Gray: No information about the signal available Green: Expectation of reference pulse is active Red: Expectation of reference pulse is not active
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HEIDENHAIN Technical Manual iTNC 530
Signal
Meaning
Colors
Velocity feedforward control
The signal indicates whether the position Gray: No information about the signal available controller is working with feedforward control or with following error. Green: Operation with feedforward control Acceleration feedforward control can be Red: Operation with switched on/off cyclically by the MC. following error Corresponds to parameter MP 1392 or MP1391.0 in the MP file, depending on the current mode of operation.
Meanings of the signals under “status/PLC” Signal
Meaning
Colors
Axis in position (PLC)
If the axes have reached the positioning window after a movement, the status is shown in W1026.
Green: Axis in position Yellow: Axis not in position
Position control loop closed (PLC)
Position control loop closed (W1040 Green: Position control loop closed inverted). By setting W1040 in the PLC, the position control loop is opened by the Yellow: Position control PLC program. loop open
Axis enabled (PLC)
W1024 shows if the position control loop Green: Axis not enabled is open or closed, and if the axis has been Yellow: Axis enabled enabled.
Axis in motion (PLC)
During axis movement, the NC sets the bits in W1026.
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NC Software 340 49x-04
Green: Axis in motion Yellow: Axis at standstill
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Meanings of the signals under "EnDat/status" Signal
Meaning
Colors
Encoder model
Designation of the encoder model
Device name
Name of the encoder
Data width
Number of bits of position value
Resolution
Speed encoder Number of signal periods per revolution Linear encoder: Signal period in nanometers Value 0: The encoder is a pure serial encoder.
Distinguishable revolutions
Information about multiturn encoders. Number of max. distinguishable revolutions.
Resolution of abs. track Speed encoder Number of measuring steps per revolution Linear encoder: Number of measuring steps per nanometer Serial number
Serial number of encoder
Absolute value
Current absolute value
EnDat 2.2
Information about whether the encoder is EnDat 2.2-compatible.
Alarms
Evaluation of different types of error information from the encoder. If the encoder reports an encoder error, fault-free encoder function is no longer guaranteed. The encoder must be checked and replaced if necessary. If required, assistance can be provided by your HEIDENHAIN service agency.
Warnings
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Green: No error Red: Encoder reports an error
Green: No warning. Yellow: Encoder issues a warning If the encoder issues a warning, it means that the encoder still functions properly, but one of the functions is operating at its limits. The encoder must be checked and replaced if necessary. If required, assistance can be provided by your HEIDENHAIN service agency. Evaluation of different types of status information from the encoder.
HEIDENHAIN Technical Manual iTNC 530
Meanings of the signals under "power module / status" Signal
Meaning
Colors
Power module ready (LT- The power module is ready: RDY) Safety relay has picked up Main contactor is on SH1 (MC) is “High” No error from the power module
Gray: No information about the signal available Green: Power module is ready Red: Power module reports “not ready”
Switch-off power module (IGBT)
The signal shows that the IGBT in the power module has been switched off.
Gray: No information about the signal available Green: No power module switch-off (IGBT) Red: Power module switchoff (IGBT)
Power module temperature
The signal reports the status of the heat sink temperature in the power module: Either it is OK or too high.
Gray: No information about the signal available Green: Temperature of power module OK Red: Temperature of power module too high
Meanings of the signals under "speed controller / overview"
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Information
Meaning
Colors
Direction (only available in motor encoder test)
Results of the test for the direction of rotation.
Green: Direction of counting and rotation are the same (OK) Red: Direction of counting and rotation differ (error)
Amplitude
Result of the test of the speed encoders’ signals
Green: Signal amplitude within the tolerance (OK) Red: Signal amplitude outside the tolerance (error)
NC Software 340 49x-04
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Automated testing of drives Information
Meaning
Colors
Phase 1, Phase 2, Status of the phases in the Phase 3 motor and the supply line
Electronic ID label
Green: Phase is OK Red: Phase error
Leakage current
Information on a short circuit Green: No ground fault to ground in the motor, the rot: Ground fault power module or in the detected supply line
Power module
Status of the power module Green: Power module is OK Red: Power module error
Supply unit
Status of the supply unit
Green: Supply unit OK Red: Supply unit error
Connection
Status of the connection control ↔ power module
Green: Connection is OK Red: Connection error
HEIDENHAIN inverter components of type D, as well as HEIDENHAIN synchronous motors with absolute encoders with EnDat interface, are equipped with an electronic ID label. The product name, the ID number and the serial number are saved in this ID label. These devices are automatically detected when the control is started.
Load the displayed component to the corresponding machine parameter automatically with the SELECT soft key.
During every further control restart, the control checks whether the connected units with electronic ID label match the entries in MP2100.x or MP2200.x. If not, an error message might appear and the connected encoder must be transferred to the corresponding machine parameters by soft key. In exceptional cases, the evaluation of the electronic ID label can be deactivated with MP7690. MP_7690 Input:
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Evaluation of the electronic ID labels %xx Bit 0 – HEIDENHAIN power modules 0: Active 1: Inactive Bit 1 – HEIDENHAIN synchronous motors 0: Active 1: Inactive
HEIDENHAIN Technical Manual iTNC 530
1.2.11 New Functions as of CC 424 Reduced load on the brakes for vertical axes When axes are switched off, the current is no longer switched off immediately, but it is reduced to zero within 50 ms. This prevents an abrupt load on the mechanical brakes for vertical axes. The time between the switch-off of the drive controllers by Module 9161 and the acknowledgement by Module 9162 is therefore prolonged by 50 ms. The time required for the brake to engage is called overlap time. Should there be cases where you do not want an additional overlap time of 50 ms, you can change the time required for the controllers to switch off by entering a value in MP2308.x. Measuring the rotor position for spindles and torque motors with incremental encoders If you are using linear, synchronous or torque motors with incremental encoders (not EnDat encoders), you must determine the field angle every time after rebooting the control in order to establish the relationship between the encoder and the rotor magnets. Noisy encoder signals may sometimes cause problems and a corresponding error message. Noisy signals are frequently caused by external interpolation of the measured signals. The introduction of a new type of field orientation makes it possible to establish the relationship between the encoder and the rotor magnets even if the encoder signals carry a lot of noise. This new function is activated with MP2250.x = 4. When this function is active, an additional filter is applied to the encoder signals. This has the disadvantage of a delayed detection of movements. The time during which the filter is active is defined in MP2252.x (relevant input range: 0.0002 to 0.5 s) if MP2250.x = 4. Small values in MP2252.x cause a low suppression of the noise component, and large values a strong suppression. Note HEIDENHAIN recommends entering the value 0 in MP2252.x, which activates the default time constant. Adjusting gantry axes with TNCopt TNCopt with version 3.0 and higher now supports the adjustment of gantry axes in such a way that two separate machine-parameter blocks for master axis and slave axis can be optimized and transferred. This applies to the adjustment of the current controller, the feedforward adjustment, the IPC adjustment and the circular interpolation test.
December 2007
NC Software 340 49x-04
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1.3 Hardware 1.3.1 CML 110 Capacitor Module The capacity of the CML 110 capacitor module was increased from 5 F to 8.3 F. As a result, power is maintained for a considerably longer time after a power failure. Due to the increase in capacity, the new model can replace the previous model, but not vice versa. Like with the old model, the two terminals ++ and – – of the new CML 110 with 8.3 F are internally connected with each other. This makes it possible to connect several CMLs 110 in parallel without needing to use additional external terminals. CML 110 capacitor module for 24-V power supply Specifications Power supply: Capacity: Max. charging current:
24 V 8.3 F 2.4 A
Internal resistance (discharge) Maximum: Typical: Discharging current
156 mOhm 65 mOhm 30 A
ID 574 087-02 CML 110
Danger Before service or maintenance work, you must ensure that the CML 110 has been completely discharged.
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HEIDENHAIN Technical Manual iTNC 530
1.3.2 HR 150 Handwheel For the iTNC 530, the HR 150 is available in conjunction with the HRA 110. The HRA 110 permits the connection of three HR 150 handwheels (see iTNC 530 Technical Manual). The HR 150 was improved. The cable outlet can now be used radially or axially. An additional version with mechanical detent was developed. The most important characteristics of the HR 150 are: 11 µApp signals, line count 5000 1 m cable, connector (male), 9-pin Cable outlet for axial and radial use Ergonomic knurled control knob Version with mechanical detent, 100 positions / 360° for ID 540 940-xx The following HR 150 versions are available: ID 540 940-06, HR 150 with mechanical detent ID 540 940-07, HR 150 without mechanical detent The HR 150 replaces the following handwheels which were removed from the sales program in May 2007: ID 257 061-08 ID 257 061-09 ID 257 061-10
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Hardware
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1.3.3 MC 422C DP There is a new, more powerful MC 422C DP hardware for the dual-processor versions of the iTNC 530. As of fall 2007, this hardware replaces the dualprocessor version of the MC422B DP. Properties of the MC 422C DP: Real-time computer: Pentium III with 800 MHz Windows computer: Pentium M with 1.8 GHz Main memory of real-time computer: 512 MB RAM Main memory of Windows computer: 512 MB RAM Same dimension as the MC 422B DP
Main computer (standard version)
Signal inputs
ID of the MC for BF 150 monitor
Replaces ID
Without position encoder – inputs (for CC 424)
631 209-01
387 175-01
5 position encoder inputs Position: 1 VPP/EnDat
631 215-01
387 183-01
10 position encoder inputs
631 217-01
387 191-01
MC 422C DP
HDR hard disk for iTNC 530 with Windows XP
ID
Export version with Windows XP (MC 422C DP)
617 969-51
Standard version with Windows XP (MC 422C DP)
617 969-01
Other accessories (e.g. SIK) for the new MC 422C DP hardware are identical to those for the MC 422B DP. Please note that the iTNC 530 software can only run on the MC 422C DP if the following software versions and higher are installed: ID 340 492/493-04: Available as of November 2007
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HEIDENHAIN Technical Manual iTNC 530
The essential differences of the MC 422C DP from the MC 422B DP: The connection of the PL 51x is equipped with a triple-row connector (X147) instead of a double-row connector (X47). You should use the connection cable with ID 371 046-xx for the connection to X147. If required, HEIDENHAIN will deliver an adapter cable for X147 (ID 587 789-A5). This makes it possible to connect the PL 51x over the previous cable 371 045-xx as well. However, HEIDENHAIN does not recommend connecting the PL 51x with the connecting cable with ID 371 045-xx for a longer period of time. Connector X9 for additional analog outputs is missing. Only connector X8 with 6 analog outputs is present. If this presents you with difficulties, please contact HEIDENHAIN. A second USB connection (X144) is located on the bottom of the MC 422C's housing. X143, X144 are only displayed on the HeROS operating-system level and can only be used on the HeROS operating-system level. They have the same properties as the USB ports of an MC 422C single-processor version. X141, X142 are available in Windows and HeROS. The properties of these two USB ports cannot be influenced with a settings file of the HeROS system. MC 422C DP requires the additional 5V supply via X74 of the CC 42x. Important notes about the MC 422C DP Warning In regard to the MC 422C DP hardware, please note the following: The new MC 422C DP hardware only runs on software version 340 492/493-04 or higher. If you accidentally install a lower software version in connection with the MC 422C DP, then a corresponding error message appears when the control is booted. The boot procedure is aborted. If you have difficulties rebuilding or starting your control, or if you want to exchange a defective MC 422B DP for an MC 422C DP, please contact your HEIDENHAIN service agency. Note On the MC 422C DP, X 129 and X 126 must be connected with each other via an RJ 45 cable (Ethernet cable). If this connection is missing or was removed during operation, the main computer must be shut down and switched off with the main switch to ensure that it is not under power. The HeROS computer cannot be rebooted until the connection between X 129 and X 126 has been restored.
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Hardware
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When exchanging an MC 422B DP for an MC 422C DP, please proceed as follows:
Use the TNCremoNT software for PCs to create a full backup of the PLC partition and the TNC partition of the MC 422B DP.
Completely switch off your machine after you have created the backup. Warning Do not engage or disengage any connecting elements while the unit is under power! Do not in any case exchange the hard disk of an MC 422B DP for that of an MC 422C DP, or vice versa. Because of the different Windows operating systems, this causes faulty configurations that cannot be fixed.
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Remove the MC 422B DP hardware. Please refer to the notes in the Technical Manual.
Install the MC 422C DP with the appropriate new HDR and reconnect all connecting elements. Refer to the connection overview of the MC 422C DP.
Completely boot the MC 422C DP until the control application is running. The boot process for the control application ("iTNC – Control Panel") may take somewhat longer than that of the MC 422B DP.
Restore the full backup of the PLC partition and the TNC partition to the new HDR of the MC 422C DP.
Reboot the control.
HEIDENHAIN Technical Manual iTNC 530
Connection overview of MC 422C DP / without position encoder inputs and CC 424 with 6 control loops
X45
X15 X17 X19
X16 X18 X20
X143
X149
X126
X129 X26 X51 X53 X55
X141
X142
X128
X54 X56
Vacant Vacant
X15 to X20
Encoder for speed
X51 to X60
PWM output
X8 X12 X13
Nominal value output, analog TS touch trigger probe TT 130 touch trigger probe
X23 Handwheel X26 Ethernet data interface X27 RS-232-C/V.24 data interface X28 RS-422/V.11 data interface X127 RS-232-C/V.24 (only for Windows 2000) X128 RS-422/V.11 (only for Windows) X141 to X142 USB interface
X127
X52
X1 to X5 X35 to X38
X145 X14
0V 5V
X30 X34
X69 X201 X203 X205
X202 X204 X206
X147
X150, X142 at bottom of housing
X41 X42 X44
24 V reference signal for spindle 24 V for “control-is-ready” output PLC output PLC input 24 V PLC supply voltage
X45 X46 X147 X48 X149 X126, X129
Keyboard unit Machine operating panel PLC expansion PLC analog input BF 150 monitor Ethernet reserved
X69
Power supply
X121 X165 X145, X14
Reserved Reserved Reserved
X74 X150
5-V power supply Axis-specific drive enabling
B
Signal ground Equipment ground (YL/GN)
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Hardware
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Warning Do not engage or disengage any connecting elements while the unit is under power! Mating dimensions of MC 422C DP/ 5 position encoder inputs and CC 422 with 6 control loops Note All dimensions are in millimeters [mm].
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HEIDENHAIN Technical Manual iTNC 530
1.3.4 iTNC 530 with Windows XP General information Note When the control is put into service, the end user accepts the Microsoft license conditions. which are printed in the User's Manual. Keep the following in mind when installing Windows applications: HEIDENHAIN offers no support for the installation of non-HEIDENHAIN software and cannot guarantee the function of Windows applications. HEIDENHAIN is not liable for faulty hard disk contents caused by installing updates to non-HEIDENHAIN software or additional application software. If such changes to programs or data require a service visit from HEIDENHAIN, the costs for this visit are paid by the user. Microsoft service packs and patches Warning Service packs and patches from Microsoft may only be installed if they have been approved by HEIDENHAIN! HEIDENHAIN does not assume any liability for the compatibility of these service packs and patches with other installed Windows applications. Note HEIDENHAIN recommends deactivating the screen’s energy saver for existing installations. Drives in PGM MGT
The same conditions apply as described in Chapter 11 of the Technical Manual for the iTNC 530 with Windows 2000.
Serial interfaces
The same conditions apply as described in Chapter 11 of the Technical Manual for the iTNC 530 with Windows 2000.
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Hardware
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Hard disk
The MC 422C supports the following partition sizes (approx.): Partition MC 422C
MC 422C (with Windows XP)
C:
–
17 GB
TNC:
25 GB
17 GB
PLC:
1 GB
1.95 GB
SYS:
2 GB
1.3 GB
The partitions of the hard disk can be displayed through Start/Settings/ Control Panel/Administrative Tools/Computer Management/Storage/ Disk Management. System time
The same conditions apply as described in Chapter 11 of the Technical Manual for the iTNC 530 with Windows 2000.
Processor temperature
Module 9133 for determining the temperature of the second processor is not available on controls with Windows XP.
Set PLC output after shutdown
The same conditions apply as described in Chapter 11 of the Technical Manual for the iTNC 530 with Windows 2000.
Operation
The same conditions apply as described in Chapter 11 of the Technical Manual for the iTNC 530 with Windows 2000. In general, the usual Windows operating properties are valid for the iTNC 530 software!
Setting the Windows language
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Hard disks with Windows XP support a multi-language version. In the version you can select the language of the operating system under Start/Settings/ Control Panel/Regional Settings. This new function cannot be retrofitted.
HEIDENHAIN Technical Manual iTNC 530
1.3.4.1 Starting and Shutting Down the iTNC On the MC 422C DP, X 129 and X 126 must be connected with each other via an RJ 45 cable (Ethernet cable). This is the connection between the HeROS computer and the Windows computer. If this connection is missing, the following Windows error messages of the Tftpd32 are displayed when you start the control application ("iTNC – Control Panel").
If you receive this error message, the main computer must be shut down and switched off with the main switch to ensure that it is no longer under power. The HeROS computer cannot be rebooted until the connection between X 129 and X 126 has been restored. Otherwise, the same conditions apply as described in Chapter 11 of the Technical Manual for the iTNC 530 with Windows 2000. 1.3.4.2 The iTNC Control Panel The same conditions apply as described in Chapter 11 of the Technical Manual for the iTNC 530 with Windows 2000. 1.3.4.3 Network Settings The same conditions apply as described in Chapter 11 of the Technical Manual for the iTNC 530 with Windows 2000.
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Hardware
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1.3.4.4 Windows Settings Two network adapters are integrated in Windows: Local Area Connection: Connection of the Windows computer to the Windows network (Intel(R) 8255xER PCI adapter) iTNC Internal Connection: Connection between the HeROS computer and the Windows computer (Intel(R) PRO/100 VE Network Connection) Start/Settings/Network and Dial-up Connections displays an overview of the network connections:
Ask your network specialists for the network settings in your company network. Note Administrator rights are required for all network settings! Warning The network settings of the internal connection (iTNC Internal Connection) should not be changed! Otherwise, the same conditions apply as described in Chapter 11 of the Technical Manual for the iTNC 530 with Windows 2000.
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HEIDENHAIN Technical Manual iTNC 530
Registered users
Under Windows XP, the following users are already registered by HEIDENHAIN:
User name
Password
User group
Editable
Description
TNC
(Without password)
Users
Yes, can also be Example user name for the deleted end usera
TNCP
SYS095148
Power Users
Yes, can also be Example user name for the deleted end usera
OEM
SYS807667
Administrators
Yes, password can be changed
Administrator for the machine tool builder
Administrator (not disclosed here)
Administrators
No
Only for HEIDENHAIN Serviceb
SYS_TNC
Administrators
No
User for access by the HeROS computer to the Windows computerc
a. The end user must not be assigned to the Administrators group because otherwise he would have access through Windows to the PLC and SYS partition. b. The Administrator must not be changed because otherwise HEIDENHAIN cannot offer any service. c. The user SYS_TNC must not be changed because otherwise the control will not operate. Note When entering the password, pay attention to capitalization. The Windows Help contains general information about user groups. If the control is not in a domain, under Windows XP, users can be entered who are logged on automatically. Please refer to the online help of Windows XP.
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Hardware
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In the factory default setting, the MC 422C DP displays the two user options TNC User and TNC Power User on the screen when you log onto Windows XP. The user TNC User corresponds to the user TNC, and the user TNC Power User corresponds to the user TNCP of the table shown above.
Press the key combination ALT+CTRL+Del twice to switch from the displayed logon screen to the same logon window as in Windows 2000, which enables you to use all users listed in the table shown above after entering the user and the appropriate password from the table. Note for administrators
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The same conditions apply as described in Chapter 11 of the Technical Manual for the iTNC 530 with Windows 2000.
HEIDENHAIN Technical Manual iTNC 530
1.3.5 TE 535Q General information
The NC keys of the new operating panel are identical to those of the TE 530B. In addition, machine operating keys were integrated.
Technical characteristics: NC operating panel: Same as TE 530B Machine operating panel: 6 axis-direction keys 16 function keys Keys for NC start and NC stop (illuminated) Keys for spindle start and spindle stop All keys in the machine operating panel are snap-on keys. EMERGENCY STOP button Key for control voltage ON (RAFI key, illuminated) Two bore holes (22 mm) for additional RAFI buttons (shipped blocked with a cover) or keylock switches
ID 547 577-xx
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TE 535Q
Hardware
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X3: to MC 4xx/X46
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Connecting cable ID 263 954-xx: X3 D-sub, 37-pin male Pin no.
PLC input
Meaning of the keys
SN/Signal
1
I128
X minus
S14
2
I129
Y minus
S27
3
I130
Z minus
S28
4
I131
IV minus
S29
5
I132
V minus
S30
6
I133
X plus
S16
7
I134
Y plus
S3
8
I135
Z plus
S2
9
I136
IV plus
S1
10
I137
V plus
S4
11
I138
Select tool change
S7
12
I139
Unclamp tool
S8
13
I140
Chip conveyor back
S25
14
I141
Unlock working space
S38
15
I142
Chip conveyor
S12
16
I143
Spindle start
S34
17
I144
Spindle stop
S33
18
I145
Coolant (external) (M08)
S11
19
I146
NC start
STRT from terminal strip X15
20
I147
NC stop
STP from terminal strip X14
21
I148
Rapid traverse
S15
22
I149
Retract axis
S17
23
I150
Coolant (internal) (M07)
S24
HEIDENHAIN Technical Manual iTNC 530
December 2007
X3 D-sub, 37-pin male Pin no.
PLC input
Meaning of the keys
SN/Signal
24
I151
Machine control voltage ON
STSP from terminal strip X13
25
I152
Additional coolant
S37
26
O0
NC start lamp
From terminal strip X15
27
O1
NC Stop lamp
From terminal strip X14
28
O2
Machine control voltage ON lamp
From terminal strip X13
29
O3
Vacant
30
O4
Vacant
31
O5
Vacant
32
O6
Vacant
33
O7
Vacant
34
0V
35
0V
36
+24 V
36
+24 V
Hardware
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X10: to transfer unit
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Connecting cable ID 629 663-xx: X10 D-sub, 15-pin male Pin no.
PLC input
Meaning of the keys
SN/Signal
1
Vacant
VI plus
S5
2
Vacant
VI minus
S31
3
Vacant
Jog spindle to left
S20
4
Vacant
Jog spindle to right
S21
5
Vacant
Permissive mode
S18
6
Vacant
FN1
S10
7
Vacant
FN2
S23
8
Vacant
FN3
S36
9
Vacant
Not assigned
Vacant input X12/1
10
Vacant
Not assigned
Vacant input X12/2
11
Vacant
Not assigned
Vacant input X12/3
12
Vacant
Not assigned
Vacant input X12/4
13
Vacant
Not assigned
Vacant input X12/5
14
Vacant
Not assigned
Vacant input X12/6
15
Vacant
Not assigned
Vacant input X12/7
HEIDENHAIN Technical Manual iTNC 530
X11: Vacant outputs X11
PLC operand
Meaning
Signal
1
O0
NC start lamp
From terminal strip X15
2
O1
NC stop lamp
From terminal strip X14
3
O2
Machine control voltage ON lamp
From terminal strip X13
4
O3
Vacant
Vacant output X3
5
O4
Vacant
Vacant output X3
6
O5
Vacant
Vacant output X3
7
O6
Vacant
Vacant output X3
8
O7
Vacant
Vacant output X3
9
0V
10
+24 V
X12
PLC operand
Meaning
Signal
1
Ixxx
Vacant
Vacant input to X10/1
2
Ixxx
Vacant
Vacant input to X10/2
3
Ixxx
Vacant
Vacant input to X10/3
4
Ixxx
Vacant
Vacant input to X10/4
5
Ixxx
Vacant
Vacant input to X10/5
6
Ixxx
Vacant
Vacant input to X10/6
7
Ixxx
Vacant
Vacant input to X10/7
X12: Vacant inputs
8
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+24 V
Hardware
1 – 105
X13, X14, X15
X13, X14 and X15 are terminal strips that are already wired when shipped: X13: Terminal strip for the 'machine control voltage ON' key X14: Terminal strip for the 'NC stop' key X14: Terminal strip for the 'NC start' key
Machine operating panel: Key assignment S1
S2
S3
S4
S5
S6
S7
S8
S9
S10
S14
S15
S16
S17
S18
S19
S20
S21
S22
S23
S27
S28
S29
S30
S31
S32
S33
S34
S35
S36
S11
S12
S13
S24
S25
S26
S37
S38
S39
Dimensions 51.8 +10
400
44.6 +10
376±0.2 8
12 0
M5
370
354±0.2
294.5
1
¬ 10
¬ 5.5
76.50
¬ 8 +10
X
339
4
354 +10
X (2x) 2:1 2.2 +0.4 0
f
354±0.2
M5 11x45°
m
+0.4
2.3 0
¬2
1 – 106
24.1 +0.4 0
376±0.2 +1 f 384 0
HEIDENHAIN Technical Manual iTNC 530
1.3.6 MB 520 General information
With End of 2007 the new machine operating panel MB 520 is avaliable. The new operating panel is identical to the one integrated in the TE 535Q. The operting panel MB 420 will still be available as an replacement for simple machines.
Technical characteristics: Machine operating panel: 6 axis-direction keys 16 function keys Keys for NC start and NC stop (illuminated) Keys for spindle start and spindle stop All keys in the machine operating panel are snap-on keys. EMERGENCY STOP button Key for control voltage ON (RAFI key, illuminated) Two bore holes (22 mm) for additional RAFI buttons (shipped blocked with a cover) or keylock switches ID 628 040-xx
December 2007
MB 520
Hardware
1 – 107
X3: to MC 4xx/X46
1 – 108
Connecting cable ID 263 954-xx: X3 D-sub, 37-pin male Pin no.
PLC input
Meaning of the keys
SN/Signal
1
I128
X minus
S14
2
I129
Y minus
S27
3
I130
Z minus
S28
4
I131
IV minus
S29
5
I132
V minus
S30
6
I133
X plus
S16
7
I134
Y plus
S3
8
I135
Z plus
S2
9
I136
IV plus
S1
10
I137
V plus
S4
11
I138
Select tool change
S7
12
I139
Unclamp tool
S8
13
I140
Chip conveyor back
S25
14
I141
Unlock working space
S38
15
I142
Chip conveyor
S12
16
I143
Spindle start
S34
17
I144
Spindle stop
S33
18
I145
Coolant (external) (M08)
S11
19
I146
NC start
STRT from terminal strip X15
20
I147
NC stop
STP from terminal strip X14
21
I148
Rapid traverse
S15
22
I149
Retract axis
S17
23
I150
Coolant (internal) (M07)
S24
HEIDENHAIN Technical Manual iTNC 530
December 2007
X3 D-sub, 37-pin male Pin no.
PLC input
Meaning of the keys
SN/Signal
24
I151
Machine control voltage ON
STSP from terminal strip X13
25
I152
Additional coolant
S37
26
O0
NC start lamp
From terminal strip X15
27
O1
NC Stop lamp
From terminal strip X14
28
O2
Machine control voltage ON lamp
From terminal strip X13
29
O3
Vacant
30
O4
Vacant
31
O5
Vacant
32
O6
Vacant
33
O7
Vacant
34
0V
35
0V
36
+24 V
36
+24 V
Hardware
1 – 109
X10: to transfer unit
1 – 110
Connecting cable ID 629 663-xx: X10 D-sub, 15-pin male Pin no.
PLC input
Meaning of the keys
SN/Signal
1
Vacant
VI plus
S5
2
Vacant
VI minus
S31
3
Vacant
Jog spindle to left
S20
4
Vacant
Jog spindle to right
S21
5
Vacant
Permissive mode
S18
6
Vacant
FN1
S10
7
Vacant
FN2
S23
8
Vacant
FN3
S36
9
Vacant
Not assigned
Vacant input X12/1
10
Vacant
Not assigned
Vacant input X12/2
11
Vacant
Not assigned
Vacant input X12/3
12
Vacant
Not assigned
Vacant input X12/4
13
Vacant
Not assigned
Vacant input X12/5
14
Vacant
Not assigned
Vacant input X12/6
15
Vacant
Not assigned
Vacant input X12/7
HEIDENHAIN Technical Manual iTNC 530
X11: Vacant outputs X11
PLC operand
Meaning
Signal
1
O0
NC start lamp
From terminal strip X15
2
O1
NC stop lamp
From terminal strip X14
3
O2
Machine control voltage ON lamp
From terminal strip X13
4
O3
Vacant
Vacant output X3
5
O4
Vacant
Vacant output X3
6
O5
Vacant
Vacant output X3
7
O6
Vacant
Vacant output X3
8
O7
Vacant
Vacant output X3
9
0V
10
+24 V
X12
PLC operand
Meaning
Signal
1
Ixxx
Vacant
Vacant input to X10/1
2
Ixxx
Vacant
Vacant input to X10/2
3
Ixxx
Vacant
Vacant input to X10/3
4
Ixxx
Vacant
Vacant input to X10/4
5
Ixxx
Vacant
Vacant input to X10/5
6
Ixxx
Vacant
Vacant input to X10/6
7
Ixxx
Vacant
Vacant input to X10/7
X12: Vacant inputs
8
December 2007
+24 V
Hardware
1 – 111
X13, X14, X15
X13, X14 and X15 are terminal strips that are already wired when shipped: X13: Terminal strip for the 'machine control voltage ON' key X14: Terminal strip for the 'NC stop' key X14: Terminal strip for the 'NC start' key
Machine operating panel: Key assignment S1
S2
S3
S4
S5
S6
S7
S8
S9
S10
S14
S15
S16
S17
S18
S19
S20
S21
S22
S23
S27
S28
S29
S30
S31
S32
S33
S34
S35
S36
S11
S12
S13
S24
S25
S26
S37
S38
S39
Dimensions
52 +10
400 376±0.2
¬ 5.5 76.50
1
¬ 10
X
¬ 8 +10
94±0.2
79
110
0 34.5
45 +10
M5
8
12
4
94 +0.5 0
X (2x) 2:1 2.2 +0.4 0
f
94±0.2
M5 12x45°
m
+0.4
2.3 0
¬2
1 – 112
384 +0.50
24.1 +0.4 0
376±0.2
f
HEIDENHAIN Technical Manual iTNC 530
December 2007
Hardware
BF 150 353 522-xx
353 545-xx
Included with visual display unit
Axes: 60m
EnDat 2.1 interface VL (max. 6m) 340 302-xx
Axes + spindle: 60m
Axes + spindle: 30m
1 VPP
3) only for connection of the KTY
Voltage controller 5 V 370 224-01 VL 340 302-xx
Voltage controller 5 V 370 226-01
VL (max. 6m) 336 847-xx
VL 336 847-xx
2) Adapter connector 544 703-01 for spindle (if necessary)
1) with 1x BTS 150 353 544-01
40m 1)
20m
336 376-xx
Axes: 15m
289 440-xx
289 440-xx
X69
629 663-xx
X15 ... X20 X80 ... X83
2)
2)
X45
2)
1)
X41/X42
X8
X46
289 440-xx
336 376-xx
509 667-xx
Position inputs
PLC I/0
Analog output
VL 323 897-xx
KTY
Terminal box 251 249 01
20m
max. 9m
1m
40m
533 631-xx max. 6m
1m
1 VPP
60m LB/LS
30m
LC x83
RCN 729 RCN 226 RCN 228
60m
60m
21.11.2007
LC x83
RCN 729 RCN 226 RCN 228
60m
1 VPP
1 VPP
LC x83
1 VPP
12m
Housing must be mounted
VL: Extension cable for separation points with connecting cable for extending existing connecting cable
533 631-xx max. 6m
558 714-xx
309 783-xx
310 199-xx
298 429-xx 298 430-xx
635 876-xx
635 877-xx
37-pin male connector 315 650-07
290 109-xx
290 110-xx
15-pin male connector 315 650-03
VL 323 897-xx
Voltage controller 5 V 383 951-01
KTY
Voltage controller 5 V 368 210-01 3)
332 115-xx
only MC 422 C only CC 424 B
X1 ... X5 X6, X35 ... X38 1) X201 ... X212 2)
X141 X142
MC 420 MC 422 C CC 42x
VL 635 878-xx
VL 635 878-xx 635 876-xx
40m
635 877-xx
MB 420 293 757-xx
15-pin female connector 315 650-04
USB touchpad TE 530 354 770-xx: 5m 365 499-xx: 6m...30m
X51 ... X62
X149
635 877-xx
TE 520 B 535 835-xx TE 530 BX 519 441-xx
TE 535Q 630 960-xx
Speed inputs
Basic configuration
1.3.7 Cable Overview
1 – 113
1 – 114
HEIDENHAIN Technical Manual iTNC 530
2 Introduction 2.1 General Information......................................................................... 2 – 3 2.2 Meaning of the Symbols Used in this Manual .............................. 2 – 4 2.3 Overview of Components................................................................ 2 – 5 2.3.1 Main Computer, Hard Disk and SIK ........................................... 2 – 5 2.3.2 CC Controller Units .................................................................. 2 – 11 2.3.3 UV 106B Power Supply Unit .................................................... 2 – 13 2.3.4 UV 105B (Non-HEIDENHAIN Inverter Systems) ...................... 2 – 14 2.3.5 UV 105 Power Supply Unit ...................................................... 2 – 15 2.3.6 Keyboard Units and Monitors .................................................. 2 – 16 2.3.7 Handwheels ............................................................................. 2 – 20 2.3.8 Key Symbols ............................................................................ 2 – 23 2.3.9 Touch Probe Systems .............................................................. 2 – 28 2.3.10 Other Accessories ................................................................. 2 – 30 2.3.11 Documentation ...................................................................... 2 – 31 2.4 Brief Description............................................................................. 2 – 32 2.5 Software.......................................................................................... 2 – 43 2.5.1 Designation of the Software .................................................... 2 – 43 2.5.2 PLC Software ........................................................................... 2 – 44 2.5.3 Additional Control Loops or Software Options ........................ 2 – 44 2.5.4 Upgrade Functions (Feature Content Level) ............................ 2 – 47 2.5.5 NC Software Exchange on the iTNC 530 ................................. 2 – 48 2.5.6 Installing a Service Pack .......................................................... 2 – 63 2.5.7 Data Backup ............................................................................. 2 – 64 2.6 Software Releases.......................................................................... 2 – 65 2.6.1 NC Software 320 420-xx .......................................................... 2 – 65 2.6.2 NC Software 340 422-xx .......................................................... 2 – 70 2.6.3 NC Software 340 480-xx .......................................................... 2 – 81
September 2006
2–1
2–2
HEIDENHAIN Technical Manual iTNC 530
2 Introduction 2.1 General Information HEIDENHAIN contouring controls are designed for use with milling, drilling and boring machines as well as machining centers. The iTNC 530 features integral digital drive control and controls the power stages via PWM signals. Integration of the drive controllers in the iTNC 530 offers the following advantages: All the software is contained centrally in the NC; this means that the individual components of the NC, such as feed axes, spindle, NC or PLC, are optimally matched. High control quality, because the position control, speed control and current control are combined into one unit. The same functions are available for commissioning, optimizing and diagnosing feed drives as well as spindles.
The iTNC 530 offers digital control for up to 14 axes and 2 spindles at spindle speeds up to 40 000 rpm. The iTNC 530 is designed for connection of a compact or modular inverter system. Thus, together with HEIDENHAIN motors, a complete control package including servo drives can be supplied (see the “Inverter Systems and Motors” Technical Manual).
September 2006
General Information
2–3
2.2 Meaning of the Symbols Used in this Manual Danger Failure to comply with this information could result in most serious or fatal injuries or in substantial material damage. Warning Failure to comply with this information could result in injuries and interruptions of operation, including material damage. Note Tips and tricks for operation as well as important information, for example about standards and regulations as well as for better understanding of the document.
2–4
HEIDENHAIN Technical Manual iTNC 530
2.3 Overview of Components 2.3.1 Main Computer, Hard Disk and SIK
MC main computer The iTNC 530 comprises 2 components: MC 42x(B) main computer (MC = main computer) CC 42x controller unit (CC = controller computer) The MC 42x(B) main computer is available in two versions: Standard version MC 422B Basic version MC 420 with 5 position encoder inputs and reduced performance range. However, these functions can be activated with two code numbers. See page 2 – 41 for the performance range.
MC 422 B
MC 420
The main computer consists of three components: MC 42x(B) main computer HDR hard disk SIK system identification key
HDR
September 2006
Overview of Components
SIK
2–5
Main computer (standard version)
Signal inputs
Id. Nr. of MC for BF 120 Id. Nr. of MC for display unit BF 150 display unit
MC 422 B Without position encoder – inputs (for CC 424)
–
387 173-xx
5 position encoder inputs Position: 1 VPP/ EnDat
387 171-xx (discontinued as of software 340 490-xx)
387 181-xx
10 position encoder inputs
387 172-xx (discontinued as of software 340 490-xx)
387 189-xx
Without position encoder – inputs (for CC 424)
–
387 175-xx
5 position encoder inputs Position: 1 VPP/ EnDat 10 position encoder
–
387 183-xx
–
387 191-xx
MC 422 B (with Windows 2000)
inputs Main computer (Basic version)
Signal inputs
Id. Nr. of MC for BF 120 Id. Nr. of MC for display unit BF 150 display unit
Position: 1 VPP/ EnDat
–
MC 420 5 position encoder inputs
2–6
515 929-01
HEIDENHAIN Technical Manual iTNC 530
HDR hard disk for iTNC 530
Id. Nr.
Export version (MC 422B, MC 420)
387 546-51
Standard version (MC 422B, MC 420)
387 546-01
Export version with Windows 2000 (MC 422B)
387 545-51
Standard version with Windows 2000 (MC 422B)
387 545-01
SIK with NC software license for standard version with MC 422 B
Id. Nr. (standard)
Id. Nr. (export)
For 4 control loops for CC 4xx with 6/8 control loops For 7 control loops for CC 4xx with 10/12/14 control loops
389 764-01
389 764-51
For 5 control loops for CC 4xx with 6/8 control loops For 8 control loops for CC 4xx with 10/12/14 control loops
389 764-02
389 764-52
For 6 control loops for CC 4xx with 6/8 control loops For 9 control loops for CC 4xx with 10/12/14 control loops
389 764-03
389 764-53
iTNC 530
For 10 control loops for CC 4xx with 10/12/14 control loops
389 764-04
389 764-54
For 11 control loops for CC 4xx with 12/14 control loops
389 764-05
389 764-55
For 4 control loops for CC 4xx with 6/8 control loops For 7 control loops for CC 4xx with 10/12/14 control loops
389 769-01
389 769-51
For 5 control loops for CC 4xx with 6/8 control loops For 8 control loops for CC 4xx with 10/12/14 control loops
389 769-02
389 769-52
For 6 control loops for CC 4xx with 6/8 control loops For 9 control loops for CC 4xx with 10/12/14 control loops
389 769-03
389 769-53
iTNC 530 with Windows 2000
For 10 control loops for CC 4xx with 10/12/14 control loops
389 769-04
389 769-54
For 11 control loops for CC 4xx with 12/14 control loops
389 769-05
389 769-55
Id. Nr. (standard)
Id. Nr. (export)
SIK with NC software license for basic version with MC 420 iTNC 530 4 control loops without software options 1 + 2
510 085-01 510 085-51
5 control loops without software options 1 + 2
510 085-02 510 085-52
6 control loops without software options 1 + 2
510 085-03 510 085-53
September 2006
Overview of Components
2–7
Main computer (standard version)
Signal inputs
Id. Nr. of MC for BF 120 display unit
Id. Nr. of MC for BF 150 display unit
Without position encoder – inputs (for CC 424)
–
369 947-0x Export: 369 947-5x
5 position encoder inputs Position: 1 VPP/EnDat
359 629-0x Export: 359 629-5x
359 630-0x Export 359 630-5x
10 position encoder inputs
359 632-0x Export: 359 632-5x
359 633-0x Export: 359 633-5x
MC 422 (E) (discontinued as of software 340 49x)
MC 422 (E) (basic version) (discontinued as of software 340 49x) 5 position encoder inputs Position: 1 VPP/EnDat
367 224-0x Export: 367 224-5x
367 225-0x Export: 367 225-5x
MC 422 (E) (with Windows 2000) (discontinued as of software 340 49x) Without position encoder – inputs (for CC 424)
–
377 274-0x Export: 377 274-5x
5 position encoder inputs Position: 1 VPP/EnDat
–
372 037-0x Export: 372 037-5x
10 position encoder inputs
–
369 717-0x Export: 369 717-5x
SIK (for MC 422) (discontinued as of software 340 49x)
Id. Nr.
SIK for standard software (basic version)
372 171-01
SIK for export software (basic version)
372 171-51
2–8
HEIDENHAIN Technical Manual iTNC 530
Controller unit
Signal inputs
Enabled control loops
Possible analog control loops
Id. Nr. of CC 422
1 VPP/ EnDat
Depends on SIK
6 additional
359 651-xx
Max. 10 digital speed control loops
5 additional
359 652-xx
Max. 12 digital speed control loops
3 additional
359 653-xx
CC 422 Max. 6 digital speed control loops
Controller unit
Signal inputs
Enabled control loops
Possible analog control loops
Id. Nr. of CC 424
1 VPP/ EnDat
Depends on SIK
6 additionala
366 376-xx
Max. 8 digital control loops
6 additionala
521 755-xx
Max. 10 digital control loops
5 additionala
366 377-xx
Max. 12 digital control loops
3 additionala
533 569-xx
Max. 14 digital control loops
1 additionala
541 579-xx
CC 424 Max. 6 digital control loops
a. In the CC 424, analog control loops can be realized only in connection with an MC 42x(B) with position encoder inputs. In addition to the digital control loops of the corresponding SIK, further control loops can be enabled. The enabling can be used for digital and for analog control loops (as of NC software 340 420-04). Option
Id. Nr.
#0: 1st additional control loop
354 540-01
#1: 2nd additional control loop
353 904-01
#2: 3rd additional control loop
353 905-01
#3: 4th additional control loop
367 867-01
#4: 5th additional control loop
367 868-01
#5: 6th additional control loop
370 291-01
#6: 7th additional control loop
370 292-01
#7: 8th additional control loop
370 293-01
September 2006
Overview of Components
2–9
Designation of MC 42x(B) and CC 42x
ID numbers of MC 42x (B) and CC 42x:
359 632-01 BasicIDnumber
Variant
The basic ID number indicates hardware differences. This first digit of the variant number indicates hardware changes.
2 – 10
Variant
Changes to MC 422
xxx xxx-y1
Initial version
xxx xxx-y2
Main computer revised (not for dual-processor version)
Variant
Changes to MC 420
xxx xxx-01
Initial version
Variant
Changes to the MC 422B
xxx xxx-01
Initial version
Variant
Changes to CC 422
xxx xxx-01
Initial version (speed controller → SH1, current controller → SH2)
xxx xxx-02
Modified controller (MC → SH1, speed controller → SH2)
Variant
Changes to CC 424
xxx xxx-01
Initial version
HEIDENHAIN Technical Manual iTNC 530
2.3.2 CC Controller Units
CC 422 controller unit CC 422 with 6 control loops
CC 422 with 10 (12) control loops
It is equipped with: - 6 PWM outputs - 6 speed encoder inputs
It is equipped with: - 10 (12) PWM outputs - 10 (12) speed encoder inputs
CC 424 controller unit CC 424 with 6 control loops It is equipped with: - 6 PWM outputs - 6 speed encoder inputs - 6 position encoder inputs
September 2006
CC 424 with 8 control loops (as of software 340 49x) It is equipped with: - 8 PWM outputs - 8 speed encoder inputs - 8 position encoder inputs
Overview of Components
2 – 11
CC 424 with 10 control loops It is equipped with: - 10 PWM outputs - 10 speed encoder inputs - 10 position encoder inputs
CC 424 with 12 control loops (as of software 340 49x) It is equipped with: - 12 PWM outputs - 12 speed encoder inputs - 12 position encoder inputs
CC 424 with 14 control loops (as of software 340 49x-02) It is equipped with: - 14 PWM outputs - 14 speed encoder inputs - 12 position encoder inputs An image was not available at press time.
2 – 12
HEIDENHAIN Technical Manual iTNC 530
2.3.3 UV 106 B Power Supply Unit General information UV 106 B power supply unit for analog HEIDENHAIN contouring controls The UV 106 B power supply unit was designed so that the iTNC 530 could be used with a compact, coordinated system for analog nominal shaft-speed interfaces (+/– 10 V). It supplies the iTNC 530 with the supply voltages necessary for operation. The UV 106 B (Id. Nr. 546 581-01) is being introduced as a replacement for the UV 106 (Id. Nr. 366 572-11).
Id. Nr. 546 581-01 UV 106 B UV 106 B Specifications Specifications
UV 106 B 400 Vac ± 10 %a 50 Hz
Power supply (at X31) Protection
6.3 A (gR) Siemens SITOR type 6.3 A (gRL) SIBA type
Load capacity (5 V) Power consumption Degree of protection Module width Weight
20 A Max. 400 W IP 20 159 mm 4 kg
ID number
546 581-xx
a. An isolating transformer is not necessary for connecting the UV 106 B
September 2006
Overview of Components
2 – 13
2.3.4 UV 105 B (Non-HEIDENHAIN Inverter Systems) General information
The UV 105 B (Id. Nr. 532 581-01) was designed solely for the use of HEIDENHAIN controls in connection with non-HEIDENHAIN inverter systems. It is essential for the supply voltages of the HEIDENHAIN control units. UV 105 B power supply unit for the operation of HEIDENHAIN controls with non-HEIDENHAIN inverter systems An LED showing the readiness of the supply voltage is located on the front of the UV 105 B.
UV 105 B Id. Nr. 532 581-01 UV 105 B
2 – 14
HEIDENHAIN Technical Manual iTNC 530
2.3.5 UV 105 Power Supply Unit
UV 105 power supply unit The UV 105 serves to supply the power to the CC 42x if a non-HEIDENHAIN inverter is used, or, if required, to supply additional power if HEIDENHAIN inverter components are used (see “Power Supply for the iTNC 530” on page 3 – 19). If a non-HEIDENHAIN inverter system is used, the adapter connector is connected to X69 of the UV 105. The cover for the UV 105 and the adapter connector for X69 are included in the items supplied. Id. Nr. 344 980-xx Id. Nr. 349 211-01
September 2006
UV 105 Adapter connector for X69
Variant
Changes to UV 105
xxx xxx-01
Initial version
xxx xxx-02
Modification for double-row configuration
xxx xxx-12
Version only for HEIDENHAIN inverters
xxx xxx-13
Version for HEIDENHAIN and non-HEIDENHAIN inverters
xxx xxx-14
Leads and ribbon cables elongated
Overview of Components
2 – 15
2.3.6 Keyboard Units and Monitors
TE 530 operating panel with touchpad TE 530
Id. Nr. 359 906-01
TE 530B operating panel with touchpad Function keys for the new smarT.NC operating mode, as well as the new SPEC FCT key for calling special TNC functions. TE 530B for smarT.NC and SPEC FCT key Id. Nr. 519 441-11
The IV and V keys are snap-ons, and can be switched (see “Key Symbols” on page 2 – 23).
Note Please note the following limitations caused by the touchpad when using a TE 530(B): The length of the required USB cable is limited to 36 m When using two operating panels, which are switched with the BTS 1xx, only one touchpad can be active (touchpad at X142 of the MC). The TE 520B operating panel should be used in these cases.
2 – 16
HEIDENHAIN Technical Manual iTNC 530
TE 520 B operating panel with function keys for the new smarT.NC operating mode, as well as the new SPEC FCT key for calling special TNC functions. This operating panel corresponds to the TE 530B, but without the touchpad. Id. Nr. 535 835-01 TE 520B
The IV and V keys are snap-ons, and can be switched (see “Key Symbols” on page 2 – 23).
TE 420 operating panel Id. Nr. 313 038-12 The IV and V keys are snap-ons, and can be switched (see “Key Symbols” on page 2 – 23). Horizontal rows to match the design of the flatpanel display Id. Nr. 316 343-01
BF 150 visual display unit 15.1-inch color flat panel display (1024 x 768 pixels) with the following keys: 1 x 8 soft keys, 1 x 6 soft keys for PLC 3 soft keys for switching soft-key rows Screen layout Operating-mode switchover Id. Nr. 352 522-04 Horizontal rows depending on design Id. Nr. 339 516-02 (at bottom) Id. Nr. 339 516-04 (at top)
September 2006
Overview of Components
2 – 17
BF 120 visual display unit (discontinued as of software 340 49x) 10.4-inch color flat panel display (640 x 480 pixels) with the following keys: 8 soft keys 2 soft keys for switching soft-key rows Screen layout Operating-mode switchover Id. Nr. 313 506-02
Variant
Changes to BF 150
xxx xxx-01
Initial version
xxx xxx-02
New housing front
xxx xxx-03
New display model (compatible to previous versions)
xxx xxx-04
New display model (compatible to previous versions)
BTS 1x0 screen-keyboard switching unit With the BTS 1x0, it is possible to connect two monitors and two operating panels to an MC 42x(B). Id. Nr. 353 544-01 Id. Nr. 329 965-02
2 – 18
BTS 150 (2 x BF 150) BTS 120 (2 x BF 120)
HEIDENHAIN Technical Manual iTNC 530
MB 420 machine operating panel Machine operating panel with snap-on (switchable) keys (see “Key Symbols” on page 2 – 23). Key assignment: Emergency stop Machine control voltage NC start, NC stop Direction keys for 5 axes Rapid traverse Coolant Spindle start Spindle stop 7 keys for machine functions • FN 1 to FN 5 (standard assignment) • Retract axis, tool change, unlock tool, menu selection→, unlock door, rinse water jet, chip removal (assignment for HEIDENHAIN basic PLC program) Id. Nr. 283 757-33 Id. Nr. 293 757-45
September 2006
Standard assignment Machine key assignment for HEIDENHAIN basic PLC program
Overview of Components
2 – 19
2.3.7 Handwheels All handwheels are available with and without detent. For handwheels with detent, the cogging torque prevents movements of the handwheel due to motions or vibrations of the machine. On handwheels without detent, this is prevented by a defined holding torque. Handwheels with detent feature 100 detent positions per revolution, i.e. every 3.6°. The increment per step is specified as follows: HR 130: By the user via conversational programming on the control HR 410: By the user on the HR 410 via 3 different step increments predefined by the machine manufacturer HR 420: By the user on the HR 420 Handwheels with detent are supported as of software versions 340 422-09, 340 423-09, 340 480-09, 340 481-09 and 340 49x-01 HR 410 handwheel Portable electronic handwheel with snap-on (switchable) keys (see “Key Symbols” on page 2 – 23). Keys for selection of 5 axes Keys for traverse direction Keys for preset feeds Actual-position-capture key Three keys for machine functions (definable via PLC) • Spindle right/left/stop • NC start/stop, spindle start; for HEIDENHAIN basic PLC program Two permissive buttons (24 V) Emergency-stop key (24 V) Magnetic holding pads Id. Nr. 296 469-54
HR 410 handwheel (spindle right/left/stop)
Id. Nr. 296 469-55
HR 410 handwheel (NC start/stop, spindle start)
Id. Nr. 535 220-05
HR 410 handwheel (NC start/stop, spindle start) with detent
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HEIDENHAIN Technical Manual iTNC 530
HR 420 handwheel Portable electronic handwheel with Display for operating mode, actual position value, programmed feed rate and spindle speed, error messages Spindle speed and feed-rate override Axis selection via keys and soft keys Actual-to-nominal value transfer NC start/stop Spindle start/stop Keys for traverse direction Two permissive buttons (24 V) Emergency-stop key (24 V) Magnetic holding pads Mount for attaching the handwheel to the machine Id. Nr. 375 239-01
HR 420 Handwheel
Id. Nr. 512 367-01
HR 420 handwheel with detent
Id. Nr. 312 879-01 Id. Nr. 296 467-xx Id. Nr. 296 687-xx Id. Nr. 296 466-xx Id. Nr. 281 429-xx Id. Nr. 271 958-03
Connecting cable to cable adapter (spiral cable 3 m) Connecting cable to cable adapter (normal cable) Connecting cable to cable adapter (with metal armor) Adapter cable to MC 42x(B) Extension to adapter cable Dummy plug for emergency
HR 130 handwheel Panel-mounted handwheel Id. Nr. 254 040-05
Id. Nr. 540 940-01
September 2006
With ergonomic knob, radial cable outlet Same as above, but with detent
Overview of Components
2 – 21
HRA 110 handwheel adapter For connecting up to three HR 150 handwheels with the TNC. The axes and the subdivision factor are selected via rotary switch. Id. Nr. 261 097-03
HRA 110
Id. Nr. 257 061-09
HR 150 radial cable outlet
Id. Nr. 270 908-01
Handwheel selection switch
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HEIDENHAIN Technical Manual iTNC 530
2.3.8 Key Symbols Key symbols for the spindle Key
Designation Print/Background Id. Nr.
Key
Designation Print/Background Id. Nr.
Spindle stop White/Red 330 816-08
Spindle start White/Green 330 816-09
Spindle direction left Black/Gray 330 816-40
Spindle direction right Black/Gray 330 816-41
Spindle stop White/Red 330 816-47
Spindle start White/Green 330 816-46
Clamp the axis Black/Gray 330 816-48 Key symbols with axis designations Key
September 2006
Designation Print/Background Id. Nr.
Key
Designation Print/Background Id. Nr.
X Black/Orange 330 816-24
Y Black/Orange 330 816-36
Z Black/Orange 330 816-25
A Black/Orange 330 816-42
B Black/Orange 330 816-26
C Black/Orange 330 816-23
U Black/Orange 330 816-43
V Black/Orange 330 816-38
W Black/Orange 330 816-45
IV Black/Orange 330 816-37
Overview of Components
2 – 23
Axis direction keys for the principle axes
Key
Y
2 – 24
Designation Print/Background Id. Nr.
Key
Designation Print/Background Id. Nr.
X– Black/Gray 330 816-63
X+ Black/Gray 330 816-64
X– Black/Gray 330 816-17
X’– –> Black/Gray 330 816-0W
X’+ Black/Gray 330 816-21
Y’+ Black/Gray 330 816-0D
Y
Y+ Black/Gray 330 816-0L
Z’– Black/Gray 330 816-92
Menu selection 6 gigabytes Input resolution and display step Up to 0.1 µm for linear axes Up to 0.0001° for angular axes Interpolation Straight line
5 of 14 axes a
Straight lines (with MC 42x(B) E ) 4 of 14 axes Circle
2 of 14 axes 3 of 14 axes with tilted working plane
Helix
Superimposition of circular and linear paths
Spline (software option 2)
Cubic splines can be executed
Block processing time 0.5 ms Basic version: 3.6 ms (0.5 ms with software option 2) a. Export version
September 2006
Brief Description
2 – 33
Machine interfacing
iTNC 530
Feedback control with CC 422/CC 424 Position loop resolution
Signal period 1024
Path interpolation
CC 422: 1.8 ms CC 424: 3 ms
Fine interpolation
CC 422: – CC 424: 200 µs/100 µsa
Cycle time, position controller
CC 422: 1.8 ms CC 424: 200 µs (100 µs)b
Cycle time, speed controller
CC 422: 600 µs CC 424: 200 µs/100 µsa
Cycle time, current controller
PWM frequency 3333 Hz 4166 Hz 5000 Hz 6666 Hz 8333 Hz 10000 Hz
Feed rate
Maximum feed rate: 60000 No. of pole pairs
Cycle time 150 µs 120 µs 100 µs 75 µs 60 µs 50 µs
· Ballscrew pitch
at fPWM = 5000 Hz Up to approx. 40 m/min (33 kHz) or approx. 420 m/min (350 kHz) for encoders with 20 µm grating period Up to approx. 200 m/min (33 kHz) or approx. 2100 m/ min (350 kHz) for encoders with 100 µm grating period Minimum feed rate: (Cycle time of speed controller)–1 Line count of motor encoder · 1024 Rotational speed
· Ballscrew pitch
Maximum revolutions per minute: n
max
–1 f PWM ⋅ 60000 min = --------------------------------------p ⋅ 5000 Hz
nmax: Maximum spindle speed [rpm] fPWM: PWM frequency [Hz] p: Number of pole pairs The following PWM frequencies are available: 3333 Hz 4166 Hz (CC 424: 4000 Hz) 5000 Hz 6666 Hz 8333 Hz (CC 424: 8000 Hz) 10000 Hz a. Single-speed/double-speed b. Double-speed without position encoder
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HEIDENHAIN Technical Manual iTNC 530
Machine Integration
iTNC 530
Error compensation Linear and nonlinear axis error Backlash Reversal spikes during circular movements Reversal error Thermal expansion Stiction Sliding friction Monitoring functions Amplitude of encoder signals Edge separation of encoder signals Absolute position for encoders with distance-coded reference marks Following error Movement monitoring Standstill monitoring Nominal speed value Checksum of safety-related functions Power supply Buffer battery Operating temperature Cycle time of the PLC program Motor current Motor temperature Temperature of power stage DC-link voltage Integral PLC PLC memory
2 GB on hard disk
Program format
Statement list
Main memory (RAM)
512 KB
PLC cycle time
10.8 ms (can be set)
PLC inputs 24 Vdc
56 (additional inputs as option)
PLC outputs 24 Vdc
31 (additional outputs as option)
Analog inputs ±10 V
3 (additional analog inputs as option)
Analog outputs ±10 V
13
Inputs for thermistors
3 (additional inputs as option)
September 2006
Brief Description
2 – 35
Machine Integration
iTNC 530
Commissioning aids Oscilloscope Trace function Table function Logic diagram Log TNCopt – software for PCs Interfaces One RS-232-C/V.24 and one RS-422/V.11, each with max. 115 Kbps Expanded interface with LSV-2 protocol for external operation of the iTNC over the interface with HEIDENHAIN software TNCremo. Fast Ethernet interface 100 BaseT Permissible temperature range
2 – 36
Operation: 0 to +40 °C Storage: –35 °C to +65 °C
HEIDENHAIN Technical Manual iTNC 530
User functions User functions
iTNC 530
Program entry
HEIDENHAIN conversational and ISO
Fixed cycles
Drilling/boring cycles for drilling, peck drilling, reaming, boring, counterboring, tapping with or without floating tap holder Cycles for milling internal and external threads Roughing and finishing rectangular and circular pockets Cycles for face milling plane and oblique surfaces Cycles for milling linear and circular slots Hole patterns on circle and line Contour pockets — also contour parallel Contour train OEM cycles (special cycles developed by the machine tool builder) can also be integrated
Touch probe cycles
Touch probe calibration Compensating workpiece tilt manually and automatically Setting the datum manually and automatically Automatic workpiece measurement Cycles for automatic tool measurement
Contour elements
Straight line Chamfer Circular path Circle center Circle radius Tangentially connected arc Corner rounding
Contour approach and departure Via straight line: tangential or perpendicular Via circle FK free contour programming
FK free contour programming in HEIDENHAIN conversational format with graphic support for workpiece drawings not dimensioned for NC
Background programming
Creating a program with graphical support while another program is being run
3-D machining
Feed rate reduction during plunging (M103) Jerk-free path control HSC filter and advanced HSC filter 3-D tool compensation through surface-normal vectors Automatic compensation of machine geometry when working with tilted axes (M114, M115, M128, M129, M130) Changing the angle of the tilting head with the electronic handwheel during program run. The position of the tool tip does not change. Tool perpendicular to contour Tool radius compensation perpendicular to traversing and tool direction Spline interpolation
September 2006
Brief Description
2 – 37
User Functions
iTNC 530
Rotary table machining
Programming a contour on a cylindrical surface as if on a plane Feed rate in mm/min (M116)
Q parameters — programming with variables
Mathematical functions =, +, –, *, /, sin α, cos α, angle α from sin α and cos α, a,
2
a +b
2
Logical comparisons (=, =/, ) Parentheses tan α, arc sin, arc cos, arc tan, an, en, ln, log, absolute value of a number, constant π, negation, truncation before or after decimal point Functions for calculating a circle Programming aids
Pocket calculator Context-sensitive help function for error messages Graphic support for the programming of cycles Comment blocks in the NC program
Position data
Nominal positions for straight lines and circles in Cartesian or polar coordinates Absolute or incremental dimensional data Display and input in mm or inches Display of handwheel path during machining with handwheel superpositioning
Tool compensation
Tool radius in the working plane and tool length Radius compensated contour look ahead for up to 99 blocks (M120) Three-dimensional tool radius compensation for editing tool data at a later date without a renewed program computation
Tool tables
Multiple tool tables with any number of tools
Cutting-data tables
For automatic calculation of spindle speed and feed rate from toolspecific data (cutting speed, feed rate per tooth)
Constant contour speed
With respect to the path of the tool center With respect to the tool cutting edge (M109, M110, M111)
Program jumps
Subprograms Program-section repeat Any desired program as subroutine
Coordinate transformation
Datum shift, rotation, mirroring Scaling factor (axis specific) Tilting the working plane
Actual position capture
Actual positions can be transferred directly into the part program
Test graphics
Graphical simulation before a program run, also while another program is being run Plan view, view in three planes, 3-D view Magnification of details
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HEIDENHAIN Technical Manual iTNC 530
User Functions
iTNC 530
Programming graphics
In the Programming and Editing operating mode, the contours of the NC blocks are drawn (2-D pencil-trace graphics), also while another program is being run
Machining graphics
Graphical simulation of executed program in plan view, three planes and 3-D view
Machining time
Calculation of machining time in the Test Run mode of operation Display of the current machining time in the Program Run modes of operation
Returning to the contour
Mid-program startup in any block in the program, returning the tool to the calculated nominal position to continue machining Program interruption, contour departure and return
Datum tables
Multiple datum tables
Pallet tables
Tool-oriented or workpiece-oriented execution of pallet tables with any number of entries for selection of pallets, part programs and datums
September 2006
Brief Description
2 – 39
Accessories Accessories
iTNC 530
Electronic handwheels
One portable HR 410 handwheel, or One portable HR 420 handwheel with display, or One panel-mounted HR 130 handwheel, or Up to three panel-mounted HR 150 handwheels via the HRA 110 handwheel adapter
Touch probe systems
TS 220 triggering 3-D touch probe with cable connection, or TS 440, TS 640 triggering 3-D touch probe with infrared transmission, or TT 130 triggering 3-D touch probe for tool measurement
Data transfer software
TNCremoNT, TNCremo
PLC development software
PLCdesignNT
Software for generating cycle structure
CycleDesign
Software for remote diagnosis
TeleService
Software for putting digital control loops into operation
TNCopt
Software for diagnosis of digital drive systems
TNCdiag
PLC input/output unit
Up to four PL 410B/PL 510 or one PL 405B PL 410B version 1: Additional 64 PLC inputs and 31 PLC outputs per PL PL 410B version 2: Additional 64 PLC inputs and 31 PLC outputs as well as 4 analog inputs ±10 V and 4 inputs for thermistors per PL PL 405B: Additional 32 PLC inputs and 15 PLC outputs per PL PL 510: Four slots for PLD 16-8 (16 PLC inputs and 8 PLC outputs) and PLA 4-4 (four ±10 V analog inputs and 4 inputs for thermistors)
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HEIDENHAIN Technical Manual iTNC 530
Software options Software options
iTNC 530
#8: Software option 1 Id. Nr. 367 591-01
Cylinder surface interpolation Feed rate in mm/min Tilting the working plane Circular interpolation in 3 axes with tilted working plane
#9: Software option 2 Id. Nr. 367 590-01
HSC path control: • Special position value filters for optimal path control (HSC filter and advanced HSC filter) • Cycle 32: Additional options in Cycle 32 for roughing and finishing mode, and tolerances for rotary axes 3-D compensation • of the tool length and diameter via surface normal vectors (DL/DR in the tool table) • via radius compensation perpendicular to the tool direction (RL/RR in the NC program) • Programming with LN blocks (machine-neutral 3-D programming with various options) 3-D machining • TCPM: Tool Center Point Management – Maintain position of the tool tip when positioning with tilting axes (via M128 in the NC program) and with additional options (via Function TCPM in the NC program) • M114: Automatic correction of machine geometry when positioning tilting axes • M144: Compensating the machine’s kinematics configuration for ACTUAL/NOMINAL positions at end of block Tool perpendicular to contour Straight-line interpolation in 5 axes (permit required for export) Spline interpolation: Execution of splines (third-degree polynomials) 0.5-ms block processing time
#18: HEIDENHAIN DNC Id. Nr. 526 451-01
September 2006
All functions of HEIDENHAIN DNC become available (see “Remo Tools SDK” documentation) The following functions of the LSV2 ActiveX control become available (all other options do not require option #18): • OpenChatWindow • RunProgram • SetOverride • SetPreset • TransmitChatText • TransmitPLCCommand • TransmitPLCString • HostFunction • EventReceived • NCMsgReceived • PLCMsgReceived
Brief Description
2 – 41
Software options
iTNC 530
#40: DCM – Dynamic Collision Monitoring Id. Nr. 526 452-01
Dynamic collision monitoring of defined machine components
#41: Additional Language: Slovenian Id. Nr. 530 184-01
Additional dialog language “Slovenian”
#42: DXF Converter Id. Nr. 526 450-01
Conversion of DXF files (also just parts of files) for editing in HEIDENHAIN conversational programming or with smarT.NC (see iTNC 530 User’s Manual)
#53: Upgrade functions (Feature Enabling of expanded, useful functions in updates of NC software. However, these are available without option #53 for Content Level) the initial installation (see iTNC 530 User’s Manual) Id. Nr. 529 969-01
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HEIDENHAIN Technical Manual iTNC 530
2.5 Software 2.5.1 Designation of the Software The iTNC 530 features a separate software for the NC and the PLC. The NC software is identified with an eight-digit number. If you press the MOD key in any operating mode, you can display the ID numbers of the NC software, the DSP software (DSP1, DSP2) and the current-controller software (ICTL1, ICTL2). An installed service pack is shown by SPx after the ID number of the NC software.
Type
The iTNC 530 is shipped with the following NC software versions: Standard
Export
Note
340 420-xx
340 421-xx
iTNC 530
340 422-xx
340 423-xx
iTNC 530
340 500-xx
340 501-xx
Service pack for 340 480-xx or 340 481-xx
340 480-xx
340 481-xx
iTNC 530 with Windows 2000
340 502-xx
340 503-xx
Service pack for 340 480-xx or 340 481-xx
Due to restrictions on the export of the iTNC 530, HEIDENHAIN can also supply a special export version. This export version differs from the standard control though the installed NC software type. HEIDENHAIN releases a new NC software type whenever it introduces extensive new functions.
September 2006
Software
2 – 43
2.5.2 PLC Software The PLC software is stored on the hard disk of the iTNC. You can order a PLC basic program directly from HEIDENHAIN. With the PLC development software PLCdesignNT, the PLC program can very easily be adapted to the requirements of the machine. 2.5.3 Additional Control Loops or Software Options For each MC 42x(B), only the minimum number of control loops is enabled. If you need additional control loops, you must enable them by entering a code number. These additional control loops are not bound to a certain machine parameter index. The definition as to whether a control loop is used is entered as a value ≠ 0 in MP120.x (nominal speed value outputs to the axes) and MP121.x (nominal speed value outputs to the spindles). Up to two software options can be enabled on the basic version of the MC 42x. This is also done by entering a code number. Each MC 42x(B) can clearly be identified by the SIK (System Identification Key). You will find the SIK number on the outside of the MC 42x(B) housing (below the ID label) and on the SIK board. To install the SIK, see “Handling of the HDR Hard Disk and the SIK” on page 3 – 5. If you wish to enable additional control loops or software options, please contact HEIDENHAIN for the code number. After you have informed us of the SIK number, we can give you the required code number. Note If you replace the MC 42x(B), you must also replace the SIK in order to ensure that the enabled control loops will also be enabled on the new MC 42x(B). To enable additional control loops, proceed as follows:
2 – 44
8
While in the Programming and Editing operating mode, press the MOD key.
8
Enter the code number SIK and confirm your entry with the ENT key.
HEIDENHAIN Technical Manual iTNC 530
The following display will appear: Display
Meaning
SIK ID:
SIK number
Control Type:
Control model (=iTNC 530)
General Key:
Enter the master code number 65535 to enable all options for the duration of two weeks. NONE: Master code number has not been entered yet. dd.mm.yyyy: Date up to which all options will be enabled. It is not possible to enable the control loops again by entering the master code number. EXPIRED: The two weeks since the master code number was entered have expired.
Enter Option #:
Enter the number of the option to be enabled (the option number is shown in the list)
Key:
Code number for the option to be enabled
In the list: Option column
Description of the individual options
Active column
YES: Option is enabled NO: Option is not enabled
8
In Enter option #: you enter the number for the option you want to enable. Options that have not been enabled yet are identified by the entry NO in the Active column.
8
Enter the code number for enabling the option under Key: and confirm your entry by pressing the ENT key. HEIDENHAIN can give you the code number after having been informed of the SIK number.
The message Option has been set appears. 8
Press the END soft key. The iTNC performs a reset.
If the code number is correct, the enabled option is identified by the entry YES in the Active column. To display the corresponding number of machine-parameter indexes:
September 2006
8
In OEM.SYS, enter the code word PWMPARAMETER = followed by the required number of machine-parameter indexes MP2xxx.y for the current and speed controller.
8
In OEM.SYS, enter the code word AXISNUMBER = followed by the required number of remaining machine-parameter indexes.
Software
2 – 45
Displaying the status of an option
The status of an option (enabled or not) can be displayed either as a menu by entering the code number SIK (see previous page), or bit-encoded after pressing the MOD key in the OPT line. Each bit has the following meaning: OPT: %xxxxxxxxxxxxxxxx Bit 0: 1st additional control loop to Bit 7: 8th additional control loop Bit 8: Software option 1 Bit 9: Software option 2 Bit 10: Reserved to Bit 15: Reserved
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HEIDENHAIN Technical Manual iTNC 530
2.5.4 Upgrade Functions (Feature Content Level) Until now, each new NC software version contained error fixes as well as expanded functions. Users who wanted only the NC software update to eliminate the errors often felt bothered by the expanded functions. For this reason, error fixes and expanded functions will now be handled separately within the software. If a new NC software is later loaded as an update onto a machine with NC software 340 490-01, then as the default setting only the error fixes contained will be effective. The upgrade functions will at first remain inactive. The upgrade functions can then be enabled by entering a code number. HEIDENHAIN can give you the code number after having been informed of the SIK number and NC software version. The upgrade functions are defined as “feature content level” (FCL) in the SIK under option #53. The first time an NC software with upgrade functionality is installed on a control (i.e. no FCL has been set in the SIK), then the entire scope of functions can be used (including the upgrade functions.). The FCL is then automatically set after 100 restarts, or by entry of the code number 0 under option #53 (see “Additional Control Loops or Software Options” on page 2 – 44), and all upgrade functions belonging to this software version are enabled as well. A note appears asking to confirm the installed NC software as the initial version, or if another initial software version is to be installed. If the FCL has already been set in the SIK of a control, then after an update (e.g. from software 340 490-02 to -03), the new upgrade functions of the newer software version can only be used after entry of a code number from HEIDENHAIN under option #53 (see “Additional Control Loops or Software Options” on page 2 – 44). After pressing the MOD key, the current status of the FCL is displayed in addition to the software versions. The FCL is incremented with each new version of the NC software. If the upgrade functions are enabled via the FCL for a software version, then all upgrade functions of this software version and all its predecessors are available. For example, if the FCL for version 340 490-03 is set, then all upgrade functions from version 340 490-02 are also available immediately.
September 2006
Software
2 – 47
If a newer software version, e.g. 340 490-06, is simply loaded onto a control, then the already existing upgrade functions remain available, but the upgrade functions of the newer version cannot be used. They must be enabled by entering a new code number.
2.5.5 NC Software Exchange on the iTNC 530 Note The NC software must be exchanged only by trained personnel. For exchanging the NC software, HEIDENHAIN provides packed files (*.zip) with the NC software. The packed files are transferred to the hard disk of the control or to a network drive and are unpacked. There have been some format changes to the software update. Please refer to the notes about “Update to SW 340 490-02” on page 7 (digital Version) in Update Information 14.
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HEIDENHAIN Technical Manual iTNC 530
General information
The following files are necessary for an update, and must be located in the same directory: - setup.zip - setup.omf (setup.exe in Windows) - setup.ini (this is to be created by the OEM, and is only necessary if the update is to occur according to a specific sequence) Please note that this currently means that the version of the software to be installed is not displayed in advance. Note You can download the two files necessary for the update (setup.zip and setup.omf) from the HEIDENHAIN FileBase under “NC Milling iTNC530 > Software” as a single ZIP file, e.g. 340490_002.zip, and unzip them in your Update directory. Software updates and service packs are loaded in the same manner. Automated updating is possible. If your directories are structured appropriately and you use a setup.ini control file, this method makes it possible to update the control automatically when it is booted (see “Automated update (setup.ini)” on page 2 – 50). Copying of the update files (setup.omf/exe and setup.zip) to the system partition occurs automatically as part of the update program in directories with the following naming convention: • iTNC without Windows - Software update: SYS:\zip\_ - Service pack: SYS:\zip\__SP • iTNC with Windows - Software update: C:\Program Files\install\_ - Service pack: C:\Program Files\install\__SP Warning No manual changes may be made to these directories, since they might be required for restoring earlier software versions. Before the update, a query appears asking whether the necessary binary to ASCII conversion should be performed. HEIDENHAIN recommends always performing this conversion. Only files whose binary version has changed are converted. Immediately thereafter a query appears asking for the recommended procedure if there is not enough memory space: - Cancel if not enough memory - Delete largest or oldest files first After successful installation, these ASCII files are automatically reconverted to binary format. This procedure can be automated in the control file mentioned above.
September 2006
Software
2 – 49
The NC software has been prepared in such a manner that when an update is performed or a service pack loaded as of software 340 490-02, the PLC program and PLC partition can be updated as well, according to the requirements of the OEM. When the NC software is updated, the OEM uses the HEIDENHAIN PC software PLCdesignNT to add all necessary files to the setup.zip archive. These files are copied to the appropriate locations during an update. Note The support necessary for this in PLCdesignNT will be available starting from version 2.3. It is not possible to update only the PLC data but not the NC software. Automated update (setup.ini)
Automated updating is possible with the iTNC 530. In order to automate an update as much as possible, a control file with the name setup.ini is necessary in addition to the setup.zip and setup.omf (.exe with Windows control) files. If your directories are structured appropriately and you use this setup.ini control file, this method makes it possible to update the control automatically when it is booted. If there is a certain “install” directory on your iTNC containing a setup.ini control file in addition to the update files, an update is performed automatically according to the instructions in this control file. The following directories are checked during booting for the presence of a control file: iTNC without Windows - TNC:\install\ or, if a USB memory device is connected - USB0:\install\ (USB0: first partition of the first USB memory device) iTNC with Windows - D:\install\ or, if a USB memory device is connected - G:\install\ (G: corresponds to the drive letter of the USB memory device – network drives are not permitted!) The setup.ini file can be created with a simple text editor. An example of a setup.ini file: Interactive=1 Confirm=1 Language=GERMAN SavePlc=TNC:\backup\340490_002.zip
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HEIDENHAIN Technical Manual iTNC 530
The following settings are selectable:
September 2006
Parameters
Description
Interactive=[0,1]
Deletion of the NC software archive (old software versions) and binary to ASCII conversion must be confirmed by the user. 0: No 1: Yes [default]
Confirm=[0,1]
Start of update and reboot process must be confirmed by the user 0: No 1: Yes [default]
ServiceRequest=[0,1]
A service request is triggered after an update (only if remote diagnosis is active) 0: No [default] 1: Yes
ConvertToAscii=[0,1] (only if Interactive=0)
Binary to ASCII conversion with automated update process (not with service pack) 0: No 1: Yes [default]
CopyToSys=[0,1]
The setup archive to be installed is copied to the directory SYS:\zip (iTNC with Windows: C:\Program Files\install). This makes it possible to return to this software version later. 0: No 1: Yes [default]
DeleteFiles= [DATE,SIZE,CANCEL] (only if Interactive=0)
Procedure during binary to ASCII conversion during automated update if there is not enough memory available on the TNC or PLC partition DATE: Delete oldest files first SIZE: Delete largest files first CANCEL: Cancel the update [default]
DeleteArchives= [DATE,SIZE,CANCEL] (only if Interactive=0)
Procedure is there is not enough room on the SYS partition for the update DATE: Delete oldest archive first SIZE: Delete largest archive first CANCEL: Cancel the update [default]
Language=[ENGLISH, GERMAN] (only if Confirm=0)
Language for the dialog guidance during the update if no user activities are required for starting the update and rebooting (Confirm=0) GERMAN: German dialog text ENGLISH: English dialog text [default]
DelSource=[0,1]
Delete the source files (setup.zip, setup.ini, setup.omf/exe) once the update has completed successfully 0: No [default] 1: Yes
DeleteIni=[0,1]
Delete the setup.ini file after a successful update. 0: No [default] 1: Yes
Software
2 – 51
Automated updating of machine parameters
2 – 52
Parameters
Description
SavePlc=
If the software is updated from 340 49x-02 or higher to a newer version, then the entire PLC partition can be stored as a ZIP file in binary format. This makes it possible to restore this software state including the PLC files. Here you enter the path and file name for the ZIP file in which the entire PLC partition is saved in binary format. Please consider the software version when assigning the file name.
RestorePlc=
The “Restore” function is used to restore the PLC data to a certain software state. Here you enter the path and file name for the ZIP file containing the PLC data state (in binary format) appropriate to the NC software version to be installed. This should be the ZIP file which was saved with the “SavePlc” function, containing the corresponding PLC state and saved on the PLC partition.
If a PLC:\_mpupdate directory is created, then files that automatically update or expand the active and selected MP or OEM.SYS files when the control is started can be saved here. Files containing the name merge.* (merge.mp and merge.oem.sys) expand the MP and OEM.SYS files by the entries contained in them. Files containing the name overwrite.* (overwrite.mp and overwrite.oem.sys) contain updated entries for the corresponding files, and overwrite entries with the same names in the MP and OEM.SYS files. This means that MP subfiles cannot be considered.
HEIDENHAIN Technical Manual iTNC 530
Information about the OEM cycles
Keep the following information in mind if you switch from software 340 422-xx to 340 490-xx or when you use OEM cycles in the HEIDENHAIN cycle tree instead of in an OEM cycle tree: 8
Download and install the current CycleDesign software version from the HEIDENHAIN FileBase
8
Open the existing CycleDesign project with the current CycleDesign version and adapt it if necessary
8
Menu item File > Change variant...
8
In the New variant pull-down menu, select the entry with the newest version of the NC software and confirm with OK
8
Confirm also the subsequent Update Information with OK
8
Menu item File > Save
8
Then transfer the file (*.cdf) to the control, start the software update and check its functions. Warning Without this procedure, after a software update to the version 34049x the error message “Key nonfunctional” will appear when you press the CYCL DEF key The iTNC also does not recognize these cycles, and so ERROR blocks are inserted in the NC program. These ERROR blocks must be deleted manually!
Your *.cdf file and the appropriate *.cdc for the HEIDENHAIN cycles are still in the folder PLC:\JH\ on the control after the NC software exchange. You can find more information in the User’s Manual or in the online help for CycleDesign.
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Software
2 – 53
Manual NC software exchange as of software 340 490-02
Manual update The following procedure is used to perform a manual update (without a setup.ini file in the setup directory) or an installation of a service pack: 8
HEIDENHAIN recommends using the PC program TNCremoNT from HEIDENHAIN to make a backup for the control.
8
Please check whether cycle projects (HEIDENHAIN or OEM cycles) must be adapted and transferred before the update! See “Information about the OEM cycles” on page 53.
8
Connect the appropriate network drive or USB memory medium containing the files necessary for the update (setup.zip, setup.omf). If the network drive is not displayed, please proceed as follows: • Enter the code number 95148 and confirm your entry with the ENT key. • While in the Machine-parameter programming mode, press the PGM MGT key. • Press the NETWORK soft key. • Select the PC to be connected with the cursor keys and press the MOUNT DEVICE soft key. • To exit the list of network drives, press the END soft key. • To exit the program management, press the END soft key. • Press the END key to exit the Machine-parameter programming mode.
2 – 54
8
In the Programming and Editing mode, press the MOD key
8
Enter the code number SETUP and confirm your entry with the ENT key.
8
In the upper part of the window, select the folder containing the setup files for the new NC software, and confirm with the ENT key. The file to be called for the installation (setup.omf) is displayed in the lower part of the window.
8
To switch to the lower part of the window, press the FILES soft key. (Press the PATH soft key to return to the top part of the window.) In the lower part of the window, select the *.omf file of the new NC software with the cursor keys and press ENT. Following that, the NC software exchange will start.
8
Use the cursor keys to select the language desired for the update guidance, and confirm your entry with the ENT key.
HEIDENHAIN Technical Manual iTNC 530
8
Choose the desired action for the event that there is not enough memory available on the TNC or PLC partition for the binary to ASCII conversion: - Cancel if not enough space: The update procedure is cancelled if there is not enough space available, and a message to this effect appears. In this case you must save the files (*.h, *.i, and tables) externally, if they are needed, and then remove them manually in order to make space for the conversion. - Delete largest files first: The largest files (*.h, *.i, and tables) are deleted until there is enough space for the conversion. - Delete oldest files first: The oldest files (*.h, *.i, and tables on the PLC and TNC partitions) are deleted until there is enough space for the conversion.
8
If there is not enough space on the SYS partition, select deletion of the oldest setup files. This procedure is repeated until there is enough memory space available.
8
Confirm the update actions listed and that are to be performed.
8
After the update has finished successfully, confirm the restart of the control.
8
Read-in files which you had saved to a PC using TNCremoNT.
8
With the COPY SAMPLE FILES soft key, the HEIDENHAIN standard tables for cutting data, the tilting-axis geometry, and the M-function macros as well as a prototype for a freely definable table (contains only the column Name) can be copied into the corresponding directories.
8
The NC software exchange is completed. Note If a setup.ini file exists in the setup directory when you update manually, then the update is performed according to the instructions in this file. See “Automated update (setup.ini)” on page 50.
Automated software exchange as of version 340 490-02
Automated update An automated update is usually a part of a manual update. In addition, this means that you can use the control file to reduce the number of user actions necessary for the update to a minimum, and at the same time make a backup of the PLC partition. However, before you perform the automated update, please check whether cycle projects (HEIDENHAIN or OEM cycles) must be adapted and transferred before the update! See “Information about the OEM cycles” on page 53. If one of the following directories exists when an iTNC is booted, - TNC:\install\ or, if a USB memory device is connected - USB0:\install\ (USB0: first partition of the first USB memory device) and if a setup.ini control file is saved in this directory, then an automated update is performed according to the instructions in this control file (see “Automated update (setup.ini)” on page 2 – 50). Note Please note that if automated updating is selected, the update program may start with a delay due to the file size.
September 2006
Software
2 – 55
Software exchange via remote operation
Update via remote operation How to perform an update via remote operation: 8
In the Programming and Editing mode of the iTNC, press the MOD key
8
On the iTNC, activate remote maintenance by pressing the Service ON soft key. A “service request” is triggered and a connection is established.
8
Transmit the setup.omf and setup.zip files to a suitable directory on the control (e.g. TNC:\update)
8
Continue the update via remote operation as described under “Manual update”
Notes on updating via remote operation If remote maintenance is active when the update is started, the remote maintenance is deactivated (this does not affect the current remote operation). After the reboot or after the update was cancelled due to an error, a service request is triggered. The service request information indicates whether the update was successful. If the control does not boot due to missing or incorrect machine parameters, a service request is triggered until the “power interrupt” stage of the boot process is reached. Procedure for exchanging the NC software up to and including 340 422-12
Before exchanging the NC software, ensure that the free space on the hard disk of the MC 42x(B) is at least 50% the size of the occupied space. If that is not the case, you must save the files to a PC, e.g., with the TNCremoNT datatransfer software for PCs.
Note When the control starts, it checks whether there is enough space on the hard disk for system files. If not, the error message Too many setup files appears. In this event, delete any unnecessary setup files from the hard disk (see “Deleting the packed files of existing NC software” on page 2 – 61.) 8
While in the Programming and Editing operating mode, press the MOD key.
8
Enter the code number 95148 and confirm your entry with the ENT key.
8
If you want to use the Ethernet interface for transferring the NC software from a PC, proceed as follows: • While in the Machine-parameter programming mode, press the PGM MGT key. • Press the NETWORK soft key. • Select the PC to be connected with the cursor keys and press the MOUNT DEVICE soft key. • To exit the list of network drives, press the END soft key. • To exit the program management, press the END soft key.
2 – 56
HEIDENHAIN Technical Manual iTNC 530
8
While in the Machine-parameter programming mode, press the MOD key.
8
Press the UPDATE DATA soft key.
8
The name and path of a log file can be entered after Path = in the header.
8
Press the BIN→ASC soft key to convert the files on the hard disk from binary to ASCII format.
Soft keys for update functions Soft key
Function Convert the files on the hard disk from binary format to ASCII format and save nonvolatile markers in the PLCMEM.A file. Convert the files on the hard disk from ASCII format to binary format and save nonvolatile markers in the PLCMEM.A file. Copy cutting-data tables, tables for tilting-axis geometry, and the table of M-function macros from the SYS partition into the corresponding directories of the TNC or PLC partition, and create prototypes of the tables. Activate or delete existing NC software. Exchange the NC software.
Equivalent file name extensions in binary and ASCII format .H
September 2006
.H%
.I
.I%
.T
.T%
.TCH
.TC%
.D
.D%
.P
.P%
.PNT
.PN%
.COM
.CO%
.CMA
.CM%
8
Press the NCV → iTNC soft key.
8
In the upper part of the window, you select the folder containing the *.zip file of the new NC software. The folder contents are displayed in the lower part of the window.
8
To switch to the lower part of the window, press the FILES soft key. To return to the upper part of the window, use the PATH soft key. In the lower part of the window, select the *.zip file of the new NC software with the cursor keys and press ENT. Following that, the NC software exchange will start.
8
All NC software versions that exist in the control are shown in the following list box.
Software
2 – 57
2 – 58
8
Select the new NC software with the arrow keys and press the SELECT soft key. The selected NC software is marked with an asterisk (*) in the Sel column. Confirm your selection with the YES soft key. The control activates the selected NC software and performs a reset. With the END key, the NO soft key or the END soft key, you exit the list box without making a new selection.
8
If required, complete or delete the machine parameters.
8
While in the Programming and Editing operating mode, press the MOD key.
8
Enter the code number 95148 and confirm your entry with the ENT key.
8
While in the Machine-parameter programming mode, press the MOD key.
8
Press the UPDATE DATA soft key.
8
Press the ASC→BIN soft key to reconvert the files on the hard disk from ASCII to binary format.
8
Read-in files which you had saved to a PC.
8
The NC software exchange is completed.
8
With the COPY SAMPLE FILES soft key, the HEIDENHAIN standard tables for cutting data, the tilting-axis geometry, and the M-function macros as well as a prototype for a freely definable table (contains only the column Name) can be copied into the corresponding directories.
HEIDENHAIN Technical Manual iTNC 530
NC software exchange from standard version to export version (and vice versa)
The control version (iTNC 530 or iTNC 530 E) is saved in the SIK. If the NC software is exchanged on a software version different from that stored on the SIK, after the control starts up a message appears that the control can be operated only as a programming station. This message must be acknowledged. Procedure for exchanging the NC software: 8
Exchange the NC software as described above.
After the control powers up, Incorrect software version or Falsche Softwareversion appears. 8
Switch off the control.
8
Exchange the SIK for a new, appropriate SIK (for Id. Nr., see page 2 – 5); for the location of the SIK in the MC 42x(B), see “Additional Control Loops or Software Options” on page 2 – 44.
8
Switch on the control.
Since the new SIK has another SIK number, the options that are enabled on the old SIK must be re-enabled on the new SIK. After informing HEIDENHAIN of the SIK number, HEIDENHAIN can give you the code number for enabling the functions. To make it possible to identify the control from outside, after you indicate the ID and serial number of the control, you will receive a new ID label with the new data. 8
Stick the new ID label with the new control designation on the MC 42x(B) (E). Warning After you have changed the NC software from the standard version to the export version, you must delete the packed files of the standard version from the hard disk, since the packed files are also subject to export authorization. After the export version has been started, a prompt appears, asking if the compressed files of the standard version are to be deleted from the hard disk. If you answer with YES, all compressed files with the names of the standard version are deleted from the hard disk. The procedure for deleting compressed files in on page 2 – 61.
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Activating existing NC software
Before activating existing NC software, ensure that the free space on the hard disk of the MC 42x(B) is at least 50% the size of the occupied space. If that is not the case, you must save the files to a PC, e.g., with the TNCremoNT datatransfer software for PCs. 8
While in the Programming and Editing operating mode, press the MOD key.
8
Enter the code number 95148 and confirm your entry with the ENT key.
8
While in the Machine-parameter programming mode, press the MOD key.
8
Press the UPDATE DATA soft key.
8
The name and path of a log file can be entered after Path = in the header.
8
Press the BIN→ASC soft key to convert the files on the hard disk from binary to ASCII format.
Equivalent file name extensions in binary and ASCII format
2 – 60
.H
.H%
.I
.I%
.T
.T%
.TCH
.TC%
.D
.D%
.P
.P%
.PNT
.PN%
.COM
.CO%
.CMA
.CM%
8
Press the NCVer soft key.
8
All NC software versions that exist in the control are shown in the selection window that appears.
8
Select the NC software to be activated with the arrow keys and press the SELECT soft key. The selected NC software is marked with an asterisk (*) in the Sel column. Confirm your selection with the YES soft key. The control activates the selected NC software and performs a reset. With the END key, the NO soft key or the END soft key, you exit the list box without making a new selection.
8
If required, complete or delete the machine parameters.
8
While in the Programming and Editing operating mode, press the MOD key.
8
Enter the code number 95148 and confirm your entry with the ENT key.
8
While in the Machine-parameter programming mode, press the MOD key.
8
Press the UPDATE DATA soft key.
8
Press the ASC→BIN soft key to reconvert the files on the hard disk from ASCII to binary format.
8
The activation of the NC software is completed.
8
With the COPY SAMPLE FILES soft key, the HEIDENHAIN standard tables for cutting data, the tilting-axis geometry, and the M-function macros as well as a prototype for a freely definable table (contains only the column Name) can be copied into the corresponding directories.
HEIDENHAIN Technical Manual iTNC 530
Deleting the packed files of existing NC software
8
While in the Programming and Editing operating mode, press the MOD key.
8
Enter the code number 95148 and confirm your entry with the ENT key.
8
While in the Machine-parameter programming mode, press the MOD key.
8
Press the UPDATE DATA soft key.
8
Press the NCVer soft key.
8
All NC software versions that exist in the control are shown in the following options display.
8
Select the NC software to be deleted with the arrow keys and press the DELETE soft key to delete all packed NC software files. The currently active NC software is marked with an asterisk (*) in the Sel column. Confirm your selection with the YES soft key. With the NO soft key or the END soft key, you exit the list box without deleting an NC software. Note If the packed files of an NC software, including the currently active software, are deleted, the respective software cannot be activated via the selection window any longer. The software concerned must then again be transferred to the control (see “Procedure for exchanging the NC software up to and including 340 422-12” on page 2 – 56). The deletion of the packed files of the currently active NC software has no other effects.
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2 – 61
Entries in the log file
If errors occur during conversion, the TNC will display error messages and log them in the log file. During the NC software switch, the name and path of a log file can be entered in the header after Path =; the extension .A must be used. If no entry is made in this line, the file TNC:\CVREPORT.A is created. Each error message contains Error message Error number Error cause File concerned Example: ================================================== ERROR
:REMANENT PLC DATA NOT RESTORED
ERRNO
:2
ERROR MESSAGE
:Program name not found
FILE
:PLCMEM.A
==================================================
2 – 62
Error message
Meaning
CANNOT OPEN DIRECTORY
File could not be opened
REMANENT PLC DATA NOT RESTORED
No access to the file PLCMEM.A
NOT ENOUGH SPACE
Too little free memory on the hard disk
CONVERSION BIN ASC FAILED
A binary file has an incorrect format (e.g., binary format from an old NC software)
CONVERSION ASC BIN FAILED
An ASCII file on the hard disk is incorrect
HEIDENHAIN Technical Manual iTNC 530
2.5.6 Installing a Service Pack When needed, HEIDENHAIN prepares service packs for certain NC software versions. A service pack is loaded in addition to an already completely installed NC software. When the control is started, a note regarding the installed service pack is shown. This can be replaced by a special logo (see “Powering Up and Shutting Down the Control” on page 8 – 65). The latest service pack always includes all changes from earlier service packs. HEIDENHAIN recommends installing all released service packs. Soft key
Function Installing a service pack
Warning If a service pack has already been installed, it will not be possible to install a service pack with a lower index. Up to software 340 490-01, the person installing the service pack must check this. As of software 340 490-02, the software will check this during the installation of a service pack, and a message will be displayed if an error is found. Note A service pack may only be loaded onto completely installed NC software (files in binary format), and may only be done by trained personnel. The service pack consists of packed files (*.zip). The packed files are transferred to the hard disk of the control and unpacked. It is not necessary to convert from binary format to ASCII format. 8
If you want to use the Ethernet interface for transferring the service pack from a PC, proceed as follows: • While in the Programming and Editing operating mode, press the PGM MGT key. • Press the NETWORK soft key. • Select the PC to be connected with the cursor keys and press the MOUNT DEVICE soft key. • To exit the list of network drives, press the END soft key. • To exit the program management, press the END soft key.
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2 – 63
8
While in the Programming and Editing operating mode, press the MOD key.
8
Press the SP → iTNC soft key.
8
In the upper part of the window, you select the folder containing the *.zip file of the service pack. The folder contents are displayed in the lower part of the window.
8
To switch to the lower part of the window, press the FILES soft key. To return to the upper part of the window, use the PATH soft key. In the lower part of the window, select the *.zip file of the service pack with the cursor keys and press ENT. The installation of the service pack starts.
8
End of service pack installation Note When installing a service pack, it is not necessary to convert the binary format to ASCII format or vice versa, or to make a back-up of the remanent operands.
2.5.7 Data Backup HEIDENHAIN provides a data backup program called TNCBACK.EXE free of charge. HEIDENHAIN recommends that the machine manufacturer use the software TNCBACK.EXE to save all his machine-specific data to a floppy disk, and that he supply the disk with the machine. The disk must also contain the program TNCBACK.EXE. The customer, too, can save his TNC data before exchanging the control. It is also advisable that the customer save all of the files and programs created on the iTNC at regular intervals. Data backup is described in detail in the “Readme” file, which is included on the disk.
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HEIDENHAIN Technical Manual iTNC 530
2.6 Software Releases 2.6.1 NC Software 320 420-xx NC software 320 420-01 (export 340 421-01)
Release: 10/2001
NC software 320 420-02 (export 340 421-02)
Release: 12/2001
NC software 320 420-03 (export 340 421-03)
September 2006
Initial version
MP1086.x: Maximum permissible jerk during single-axis movements at rapid traverse MP7365.x: Color settings for the oscilloscope The path acceleration is calculated from the axis proportions. New signals in the oscilloscope (I2t monitoring of the motor and power module, utilization of the motor, position difference for gantry axes) 6 channels in the oscilloscope Reference the signals of the oscilloscope to the datum line and adjust Starting and ending times for the log FAILTEST code number for testing an internal EMERGENCY STOP Power Fail Interrupt is entered if POWERFAIL is used to switch off Error message No measured value saved if no value is saved during probing Expanded ranges for PLC operands (M0 to M9999, B0 to B9999, T0 to T999, C0 to C143) Write data to the PLC partition with FN15: PRINT and FN16: F-PRINT Connect Windows computers as network drives Entry of an ASCII file (with IP addresses and computer names) in the column DOMAIN of the network settings Negative spindle angle in Q336 for Cycles 202, 204 and 209 New, expanded search function At startup, inspect the file system in case the control was not shut down properly Release: 01/2002 MP4040, MP4041, MP4042: Set PLC output after shutting down the control The error message cannot be displayed is displayed if more than 4 channels from the current/speed controller are to be displayed Display of progress during field orientation Display of progress while the log file is created with the code number LOGBOOK The results of evaluation of the soft-key resource file are saved in the ASCII file called .SYS.LOG When the pocket table TOOL_P.TCH is reset, the data is taken over from the file PLC:\PROTO\PROTOTYP.TCH if it exists. Module 9279: Mode 2: Control shut down depending on MP4040, MP4041 and MP4042 A, B and C axes as helical axes
Software Releases
2 – 65
NC software 320 420-04 (export 340 421-04)
Release: 03/2002
NC software 320 420-05 (export 340 421-05)
Release: 05/2002
2 – 66
MP1011: Limit of rapid traverse on the path MP1061: Limitation of the path acceleration MP1146: Permissible difference between the position at shutdown and the position read in via the EnDat interface MP1355: Double reference run MP1356.x: Distance between speed and position encoder for double reference run MP2202.x: Overwrite Line count of the encoder in the motor table MP2204.x: Overwrite Counting direction in the motor table MP2206.x: Overwrite Type of encoder in the motor table MP7370.x: Color settings of the small PLC window MP7691: Size of a log file with messages from the operating system New code number KINEMATIC, for choosing a kinematic from a selection list. The name from the new column DOC in the assignment table is used. Message window before simulating an internal emergency stop via the code number FAILTEST Soft key RESTORE SCREEN in the oscilloscope, in order to read in *.DTA files FN18: SYSREAD ID56 to receive file information Module 9035: New status information 28 (tool or pocket table in editing mode) Module 9163: New error codes W1022 = 1 and W1022 = 2 Support graphics for cycles for the BF 150 revised Maximum input value is 3.2767 for the column LBREAK in the tool table After pressing MOD, the Id. Nr. of the setup is no longer displayed Cycle 403: Q337 (Set to zero after alignment) Status window with program section repeats and subprograms Zoom function for 3-D graphics in the Program Test mode Status of the soft key Machining time ON/OFF remains in effect after a power interruption Message window if the NC software in the SIK does not match the NC software being used Two-line display of NC error messages with more then 32 characters
HEIDENHAIN Technical Manual iTNC 530
NC software 320 420-06 (export 340 421-06)
September 2006
Release: 07/2002 MP110.x, MP111.x: Error message for position encoder inputs that do not exist MP960.x: Input range expanded to +/– 1.79769313486E+308 MP2160.x: Axis-specific and 2 as new input value for HEIDENHAIN EcoDyn synchronous motors MP2195: Suppress error messages of the HEIDENHAIN supply units MP2220: Monitoring of the direction of rotation for synchronous motors cannot be switched off. Bit 3: Suppress vibrations when switching off the drive with applied motor brakes. MP2304.x: Reference value for I2t monitoring of power module MP2308.x: Time between the braking signal and switch-off of the controller MP7263 bit 1: Output of the columns in the pocket table for file functions MP7357.x: Colors for inactive and active soft-key row in the Machine operating mode MP7358.x: Colors for inactive and active soft-key row in the Programming operating mode MP7370.15: Color 15 of the small PLC window MP7481.x: Sequence for new and returned tool when changing tools MP7482: Magazine with variable or fixed pocket coding MP7684 bit 7: Reserved Switch-on of the current controller delayed by 50 ms after switching on the controller (Module 9161) Entry MACEND (end of an NC macro) in the log file Error message and limitation to 999 error messages in the *.PET table Screen switchover key active after M or S function has been started M4185: Internal stop performed New entries for the soft-key resource file *.SPJ: VROOT, HROOT, EMODE, MMOD, ENABLE, STATUS, POPUPMENU, CLOSEPOPUPMENU, LARGEWINDOW, SMALLWINDOW, CLOSEPLCWINDOW, FirstInGroup WATCH LIST in the PLC main menu FN18: SYSREAD ID52 NR2 IDX finds the corresponding tool magazine. Module 9136: Switching the touch probe on/off Module 9148: Use nominal value as actual value Module 9157: Status information 4 (spindle in operating mode 0 or 1) Module 9321: Ascertain current block number Module 9305, 9306: Error code 6 Module 9342: Find magazine and pocket number
Software Releases
2 – 67
Error message when a Tolerance for rotary axes is programmed when the HSC filter is not active Display *.A ASCII files in the Save machine parameters mode of operation M140 MB F with optimized feed rate Network ping in the network settings Message window if the NC software in the SIK does not match the NC software being used. In this case it can only be operated as a programming station. After changing the NC software from the standard to the export version, compressed files can automatically be deleted Display of progress when loading new controllers for hardware components New NC block CYCLE CALL POS NC software 320 420-07 (export 340 421-07)
Release: 08/2002
NC software 320 420-08 (export 340 421-08)
Release: 10/2002
2 – 68
MP2230.x: Factor for rated current during test of motor brake MP2232.x: Maximum permissible path during test of motor brake MP4000.x: Indexes expanded from 16 to 32 MP4045: Switch off outputs that cannot be switched off by emergency stop after 250-ms delay MP7310: Bits 5 and 6 can no longer be activated MP7246 bit 1: Confirm deletion of input with DEL MP7680 bit 14: Behavior of NC start after NC stop and internal stop MP7682 bit 6: Accuracy during TOOL DEF MP7682 bit 7: Sorted run of block elements in ISO Monitoring of the 5 V supply voltage Additional entries in log when the PLC shuts down or restarts the control Expansion of the PLC modules 9092, 9093 and 9094 for new elements The network can be configured in the Machine-parameter programming mode. New soft keys in the Machine-parameter programming mode for deleting and restoring individual entries. Character set of BF 150 revised Maximum input value for the jog increment limited to 10 mm. In Cycles 21 to 25, climb milling (with M3) is standard. The code number VERSION generates an ASCII file with system information.
HEIDENHAIN Technical Manual iTNC 530
NC software 320 420-09 (export 340 421-09)
Release: 10/2002 MP2220.x: Bits 7 to 15 reserved MP2254.x: Determining the field angle MP2560.x: Only CC 424: Filter order of the low-pass filter The combination of Cycle 12 with Cycle 220 or 221 results in the error message No fixed cycle defined.
NC software 320 420-10 (export 340 421-10)
Release: 04/2003
NC software 320 420-11 (export 340 421-11)
Release: 11/2003
September 2006
Cycle 215: Approach behavior optimized
NC software 340 420-11 contains all of the functions of NC software 340 422-09. In the standard setting, datum management via preset tables is deactivated.
Software Releases
2 – 69
2.6.2 NC Software 340 422-xx NC software 320 422-01 (export 340 423-01)
Release: 08/2002 Initial version Expansions since NC software 340 420-07: Presets are managed with the preset table TNC:\PRESET.PR. Presets are recalculated using the defined tilting-axis geometry. MP7294: Disable axis-specific datum setting in the preset table New prototypes for pallet tables (PROTOPR.P and PROTO_TOPR.P) with the column PRESET Cycle structure of the machining structures revised. Error message Use preset table! appears when MP7475 = 1 and Cycle 7 is programmed. Cycle 205: Parameter Q379 (START POINT) Cycle 220: Parameter Q365 (TYPE OF TRAVERSE) Cycle 247: Entry of the preset number from the preset table Cycles 400, 401, 402: Parameter Q305 (NO. IN TABLE) Cycles 410 to 418: Parameter Q303 (MEAS. VALUE TRANSFER) Cycles 414, 415: Parameter Q305 (NO. IN TABLE) for datum and basic rotation Cycle 419: DATUM IN ONE AXIS Cycles 420 to 430: Take active rotation into account
NC software 320 422-02 (export 340 423-02)
2 – 70
Release: 10/2002 MP2230.x: Factor for rated current during test of motor brake MP2232.x: Maximum permissible path during test of motor brake MP4000.x: Indexes expanded from 16 to 32 MP4045: Switch off outputs that cannot be switched off by emergency stop after 250-ms delay MP7310: Bits 5 and 6 can no longer be activated MP7246 bit 1: Confirm deletion of input with DEL MP7680 bit 14: Behavior of NC start after NC stop and internal stop MP7682 bit 6: Accuracy during TOOL DEF MP7682 bit 7: Sorted run of block elements in ISO Monitoring of the 5 V supply voltage Additional entries in log when the PLC shuts down or restarts the control Expansion of the modules 9092, 9093 and 9094 for new elements The network can be configured in the Machine-parameter programming mode. New soft keys in the Machine-parameter programming mode for deleting and restoring individual entries. Character set of BF 150 revised Maximum input value for the jog increment limited to 10 mm.
HEIDENHAIN Technical Manual iTNC 530
In Cycles 21 to 25, climb milling (with M3) is standard. Cycle 251: RECTANGULAR POCKET Cycle 252: CIRCULAR POCKET Cycle 253: SLOT MILLING Cycle 254: CIRCULAR SLOT The code number VERSION generates an ASCII file with system information. NC software 320 422-03 (export 340 423-03)
September 2006
Release: 01/2003 With the keyword PWMPARAMETER = in OEM.SYS you can activate 30 “y” indexes of MP2xxx.y. MP2620.x: Maximum input value was increased from 30.000 [A] to 100.000 [A]. MP6550: Maximum input value was increased from 20 000 [mm/min] to 300 000 [mm/min]. MP1120.x: Maximum motion of an axis while determining the field angle MP2220.x: Bits 7 to 15 reserved MP2250.x: Only CC 424: Determining the field angle MP2252.x: Only CC 424: Path for motion detection for determining the field angle according to method 1 (MP2250.x = 1) MP2254.x: Determining the field angle MP2256.x: Determined field angle MP2257.x: Control or encoder identification for the field angle from MP2256.x MP2560.x: Only CC 424: Filter order of the low-pass filter MP2607.x: Damping factor for active damping MP2608.x: Damping time factor for active damping MP7160 bit 4: Interpolate tool axis and spindle during tapping MP7246 bit 2: Create tool-usage file MP7266.32: Maximum shaft speed [rpm] (NMAX) MP7492.x: Number of axis in which the same datum is to be set during datum setting (with active preset table) MP7600.x removed (only CC 424) MP7602: Only CC 424: PLC cycle time Comments and unused machine parameters are displayed with the color from MP7355.x. Maximum 20 commands per auxiliary axis per scan of the PLC program TNCOPT.LOCKSOFTKEYVISIBLE = YES entry in OEM.SYS, to start the control with TNCopt Lines of the kinematics table can be overwritten with WRITE TO KINEMATIC AT COLUMN Circular test in the oscilloscope X/Y display of two channels in the oscilloscope New tilting-axis combination: Swivel head and rotary table (tool axis Z): C fixed, A fixed, B fixed –90, A variable, B fixed +90, A fixed, C fixed, C variable
Software Releases
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The entry PRESETTABLE = OFF in OEM.SYS deactivates the function of the preset tables. The entries OEMCYC.ZIPNAME =, OEMCY2.ZIPNAME = etc., unpack *.ZIP files with the cycle information while the control is starting up After entry of the code number KINEMATIC more than 15 entries are available. Additional information in the log when an NC program is terminated by an error message The entry PR.LINESLOCKED = in OEM.SYS sets write protection for lines of the preset table. NMAX column in the tool table for tool-specific rotational speed limit Graphics of the PLC window in BMP or BMX format In the *.TCR file the search sequence must be defined for each magazine FN17: SYSWRITE ID1020 NR1 = for activating machine parameter subfiles defined in OEM.SYS through MPFRAGMENT = FN17: SYSWRITE ID590 NR1 IDX = and FN18: SYSREAD ID590 NR1 IDX to save machine conditions from NC macros and upload them again FN18: SYSREAD ID20 NR17 to find the current traverse range FN18: SYSREAD ID530 NR2 IDX to ask whether a line of the preset table is write-protected FN18: SYSREAD ID1000 NR410 IDX to read the ASCII value of the axis designation defined in MP410.3 or MP410.4 FN18: SYSREAD ID320 NR1 IDX0 to read the system time of the control in seconds FN17: SYSWRITE ID50 and FN18: SYSREAD ID50 has been expanded by NR24 (touch probe center offset in reference axis), NR25 (touch probe center offset in minor axis), NR26 (spindle angle during calibration), NR27 (tool type for pocket table) and NR28 (maximum rotational speed) The entry NUMBERMP4230 = in OEM.SYS for the number of indexes of MP4230.x If the NC macro defined under RESETINIT = in NCMACRO.SYS is not run completely, the error message Machine not initialized and the INIT soft key appear The entry FNERROR = in OEM.SYS for an ASCII file containing the error messages for FN14: ERROR = Extension of the modules 9092, 9093 and 9094 by element number 31 Module 9186: Transfer value 7 (soft-key function for feed-rate limiting) Module 9217: Display a pop-up window for messages Error message if 24 V is missing on X44 Text file jh_error.txt in all languages with all NC error messages on the PLC partition New soft keys DSP DIAGNOSIS and HEROS DIAGNOSIS with the corresponding diagnostic functions Faster zoom function of the graphics PLANE function for the definition of the position of the working plane
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Error message if during a touch probe cycle call the current angles of the tilting axes do not match the defined angles PLC window and PLC pop-up window evaluate keystrokes through the LSV2 protocol After COPY SAMPLE FILE the prototype PLC:\PROTO\EXAMPLE.TAB is created Exchange touch probe battery no longer cancels the probing process Before an NC program starts, any existing tool-usage file is examined Information window during datum setting from a touch probe cycle into the active line of the preset table With CYCLE CALL in connection with SL cycles, no error message is issued during active automatic programming graphics if the contour is incompletely defined. Revised screen mask during datum setting in the touch probe cycles The combination of Cycle 12 with Cycle 220 or 221 results in the error message No fixed cycle defined. Cycle 2: Automatically assume probe radius as tool radius if MP7411 bit 1 = 1. Cycle 9: CALIBRATE TS LENGTH Cycles 210 and 211: Parameter Q206 (FEED RATE FOR PLUNGING) Cycle 215: Approach behavior optimized Cycle 403: Parameter Q303 (MEAS. VALUE TRANSFER), Q305 (NUMBER IN TABLE), Q380 (REFERENCE ANGLE) Cycle 431: The tool-axis coordinates of the three touch points are saved in Q173 to Q175. NC software 320 422-04 (export 340 423-04)
Release: 02/2003
NC software 320 422-05 (export 340 423-05)
Release: 04/2003
September 2006
MP1357.x: Behavior of W1032 during double reference run Bits in MP7500 depend on the (in)active preset table
Software Releases
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NC software 320 422-06 (export 340 423-06)
2 – 74
Release: 06/2003 MP2220.x bit 3: CC 422 and CC 424: Switching off the controller when the motor brakes are activated MP2220.x bit 5: CC 424: Monitoring for insufficient temperature MP2220.x bit 7: CC 424: Monitoring of encoder input frequency MP2220.x bit 8: CC 424: Compensate the mechanical offset during switchon by gradually increasing the kV factor MP2234.x: Internal triggering of the motor brakes via the PWM interface MP7266.33: Retract tool (LIFTOFF) MP7351.x: Colors for the error classes error, warning and information of the error messages from the *.PET table. MP7492.x: Maximum input value reduced to 9 MP7354.3, MP7355.3, MP7367.0: New standard color settings MP7494: Rotary axes for which an exact stop is to occur after positioning (M134) MP7500 bit 9: Reserved MP7620 bit 7: Reserved MP7641 bit 1: Reserved MP7684 bit 8: Reserved MP7690: Evaluation of the electronic ID labels of HEIDENHAIN synchronous motors and power modules New tilting axis combination: Double swivel head 45° and rotary table: Axis sequence A fixed; C variable; A fixed; B variable (tool axis Y) Traverse does not begin during tapping until after M4030 or M4031 has been set and after a cyclic PLC program scan. CC 424: The exchange of milling heads is also possible for encoders with EnDat interface. With MP2392.x you can set a power limit for the spindle when the ERR.IZ.GR signal is active. FN18: SYSREAD ID61 NR0 IDX finds the corresponding toolchange sequence. In the PET table the strings S4 to S15 can be used. New columns MANLOCK and NONESTED in MFUNCT.TAB. Support of the electronic ID labels of HEIDENHAIN synchronous motors and power modules A tool change by M101 is transmitted delayed by at least one block and by no more than one minute. In the log, the source of the key inputs is registered. The contents of the machine parameters MP1054.x and MP7530.x can be read with FN18: SYSREAD ID1000 if they do not contain any formulas. RESTART PLC soft key for restarting the PLC program. Column headings of the TRACE IN-CODE function were revised. The compiled PLC program is stored on the control. W1016: Number of the last faulty processed PLC module
HEIDENHAIN Technical Manual iTNC 530
Module 9035: Status information for the tool change Modules 9092, 9093, 9094: Expanded by element number 32 for tool retraction (LIFTOFF). Module 9072: Copying a byte block into a string Module 9140: Setting axis-specific feed-rate limitations Module 9141: Reading axis-specific feed-rate limitations The ERR key shows a list of current error messages Search function expanded by the REPLACE ALL soft key. After the PLANE function the position of the angular axes can be transferred with M114 OEM.SYS is reevaluated during activation of the machine-parameter programming operating mode and before downloading a machine parameter file. Additional information is shown in the help window. Cycles 253 and 254: Parameters Q385 (FEED RATE FOR FINISHING) and Q366 (PLUNGING) Cycles 1, 17 and 18 were shifted in the cycle structure Cycles 410 to 416 and 418: Parameters Q381 (PROBE IN TS AXIS), Q382 (1st CO. FOR TS AXIS), Q383 (2nd CO. FOR TS AXIS), Q384 (3rd CO. FOR TS AXIS), and Q333 (DATUM) Cycles 251 and 252: Parameters Q366 (PLUNGING) and Q385 (FEED RATE FOR FINISHING) With M116 swivel-head axes are ignored. Cycle 32: Tolerance for rotary axes is also active for single and double filters Cycle 3: Input field REFERENCE SYSTEM Soft key UPPERCASE/LOWERCASE OFF/ON for the search function in the ASCII editor Manually set datum in line 0 of the preset table Menu for FN functions rearranged Text output in a pop-up window with FN16: F-PRINT. Soft key SP → iTNC for installing service packs Tool usage file generated through an LSV2 command. Point of interruption saved if program cancelled New FUNCTION TCPM function CONVERT PGM soft key for resolving FK programming or to generate two NC programs that only contain lines and circular arcs and can be run in the programmed sequence or the opposite sequence.
September 2006
Software Releases
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NC software 320 422-07 (export 340 423-07)
2 – 76
Release: 08/2003 MP3142 and MP13242: Maximum input value increased from 9999 to 30000. MP4043: Switch off outputs O0 to O15 with delay MP4044: Switch off outputs O16 to O23 with delay MP7224.2: Disable the EDIT ON/OFF soft key MP7235 causes a reset MP7237.x, MP7238.x: Support of PLC operating times 9 to 13 The integrated oscilloscope can be called from within the diagnostics menu with the code number. Maximum input range for the number of pole pairs in the motor table expanded from 99 to 999. TOOL USAGE TEST soft key for comparing the data in the tool usage file with the data in the tool table. For each soft key pressed, an entry is made in the log file, including the path to the appropriate image file. DIAGNOSIS soft key also in the PLC Programming mode Cyclic monitoring by the NC of the supply voltage and short circuits of the PLC outputs of the PL 510. Diagnostic function as option to be enabled Preset table for every traverse range Maximum number of dependencies for non-linear axis-error compensation is 15. Markers M4800 through M4999 are deleted before the first run of the PLC program Soft keys and the user interface revised in the PLC Programming mode Module 9133 was expanded by code 3 (voltage of the buffer battery [mV]). Module 9203: Call with < 0 supplies the current resource handle Modules 9246 or 9256: If a cell that does not yet exist in a table is written to, the line is filled with blank spaces up to the defined cell. If –1 is given as the line number, the next empty line is used. Module 9073: Copying a string to a byte block Module 9350: Read data from the tool table Module 9351: Write data to tool table Cycle 232: FACE MILLING Cycles 25x can be used with an inactive tool table Cycle 251: Error message if Q220 is less than the tool radius Probe cycle in the Manual operating mode finds the distance between two points, as well as the mid-point. In the touch probe cycles the trigger signal can be initiated by pressing the actual-position-capture key. Rather than entering a feed rate, you can also program a time over which the programmed block is to be traversed. TURN tilting possibility in the PLANE function Normal and tool directional vectors of LN blocks no longer need to be given standardized to the value 1. Progress indicator for sorting block numbers of an ISO machining program. Display of options upon entry of the SIK keyword revised. “Autorepeat” function for the PAGE ↑ and PAGE ↓ soft keys. HEIDENHAIN Technical Manual iTNC 530
NC software 320 422-08 (export 340 423-08)
Release: 10/2003
NC software 320 422-09 (export 340 423-09)
Release: 11/2003
September 2006
Module 9133: Measurement of the CPU temperature is not possible for the MC 422B for the time being. If a service pack is installed, a corresponding informational text appears during a power interruption. A logo can be defined via a LOGOSP = entry in OEM.SYS.
MP4043, MP4044 and MP4045 removed MP4060.x: Outputs that are to be switched off with the delay from MP4061.x when all outputs are switched off MP4061.x: Delay time for switching off the outputs in MP4060.x MP7230.x: Input value 15 (Chinese dialog text) for MC 422B (with BF 150) MP7261: Reserved MP7640: Input value 11 activates HR 420 MP7641 bit 1: Stepped rotation of HR 420 MP7641 bit 2: Axis direction key and rapid traverse on the HR 420 MP7641 bit 3: NC start / NC stop on the HR 420 During the automatic test of the motor brakes the sum of MP1110.x and MP2232.x applies to standstill monitoring. Nonlinear axis error compensation revised Diagnosis functions are no longer an option Diagnosis functions expanded ((Motor)-i, (Motor)-TEST) In the log, the acknowledgment of an error message is registered. M4660 to M4668: New markers for the HR 420 M4057: Touch probe cycle active (depending on FN17: SYSWRITE ID990 Nr2) Number of strings increased from 16 to 100 (S0 to S99) FN17: SYSWRITE ID503 NR IDX for entering a value in the preset table. M4753: Enter errors from PLC modules in PLCDEBUG.LOG New log: PLC:\PLCDEBUG.LOG for PLC events Symbolic operands can be used in the mask files for PLC windows. The configuration file for conditional compilation can be selected with the SELECT + COMPILE and SELECT COMPILER CONFIG. soft keys. New partition sizes of the hard disk for newly supplied MC 422B Module 9007 supports the PL 510 when determining the number of connected PLs Module 9137 expanded by information 12 (number of connected PL 510) Module 9221 expanded by error code 6 (PLC positioning of axis already started). Module 9084: Displaying PLC error messages with additional data Module 9277: Writing data into the OEM log Module 9322: Information of the current NC program Improved graphics with the MC 422 B Four soft keys are available for setting the speed for graphic simulation in the Test Run mode.
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With the projection in three planes in Test Run mode, the horizontal plane of section starts at the top edge of the workpiece. After you have pressed the MOD key in the Programming and Editing mode of operation, the soft key for installing the service pack will be displayed. The ERR key also shows current PLC error messages Cycle 8: Rotary axes can be programmed as mirror axes REPLACE ONLY EMPTY LINES soft key for only overwriting those lines in TOOL.T that do not contain any data when copying an externally prepared table. Pressing the GOTO key in a DIN/ISO program no longer results in GOTO line xxx jumped yyy appearing Service pack 340 500-01 for NC software 320-422-09 (340-501-01 for 340 423-09)
Release: 12/2003 Marking of multiple entries of error messages in the log Priority of External EMERGENCY STOP and PLC error messages with emergency stop increased Resetting of Cycle 32 (TOLERANCE) depends on MP7300
Service pack 340 500-02 for NC software 320 422-09 (340 501-02 for 340 423-09)
Release: 03/2004
NC software 320 422-10 (export 340 423-10)
Release: 05/2004
2 – 78
The PLC can change MP10 while an NC program is running. MP331.x, MP332.x: Maximum input value expanded to +/– +1.797693135E+308 MP1096.1: Tolerance at corners at rapid traverse MP1522: Feed-rate smoothing MP2195 bit 0: Handling of status signals from HEIDENHAIN power supply units which are already active during control start-up. MP2542.x to MP2546.x: Input range increased to 0 to 99.0 [dB]. MP2552.x to MP2556.x: Input range increased to 0 to 30 000.0 [Hz]. MP2562.x to MP2566.x: Filters can be assigned to the speed or position controller MP2572.x to MP2576.x: Input range increased to 0 to 30 000.0 [Hz]. MP5000: Input value 3 disables the serial interfaces MP5020.3, MP5030.3: Operating mode EXT4 (PLC) added MP5040.x: Data transfer rate for operating mode EXT3 or EXT4 MP7230.x: New dialog languages: Input value 14 (Russian with Cyrillic character set), input value 15 (Chinese/simplified), input value 16 (Chinese/ traditional); languages only for MC 422B (with BF 150) MP7363.5: Color for rapid traverse movements in the programming graphics MP7460.x, MP7461.x: Reserved MP7680 bit 15: Suppress NC Start if the program is aborted
HEIDENHAIN Technical Manual iTNC 530
In master-slave torque control, switch the axes to single-axis operation Resetting of Cycle 32 (TOLERANCE) depends on MP7300 PLC positioning without nominal position value filter Maximum braking power MP2390.x can be greater then the power limitation MP2392.x Braking time during powerfail extended New I2t monitoring (2nd order) with new columns in the motor table (Tth1, Rth1, Tth2, Rth2) Step response on the integrated oscilloscope only after the code number is entered New F TCPM and int. Diagn. signals in the integrated oscilloscope: Trigger conditions for the integrated oscilloscope revised CC 424 supports backlash compensation via MP750.x and MP752.x. Disabled PLC soft keys are shown as inactive Using the LSV-2 TELEGRAM ON/OFF soft key, LSV-2 telegrams can be entered in the log for test purposes. Marking of multiple entries of error messages in the log M4754: Internal diagnostic information entered in the log MYDEBUG.LOG. Diagnostic functions expanded (automatic speed encoder test, analog signals shown with control loop name) New control commands in the print masks for the measurement log in the manual touch probe cycles (mm_display, inch_display, all_display) M4622: Delay NC macro (RESETINIT = from NCMACRO.SYS) after traversing the reference marks Priority of External EMERGENCY STOP and PLC error messages with emergency stop increased M4223: Error from PET table with NC cancel active M4227: PLC error message with priority 0 (error) M4228: PLC error message with priority 1 (warning) M4229: PLC error message with priority 2 (info) TRACE IN-CODE also possible with PLCdesignNT Search function of the TRACE function improved ADD TO WATCH LIST assumes selected operands from the TRACE or TABLE function into the WATCH LIST GOTO possible in the TABLE function WATCH LIST function expanded: Put operands into the logic diagram, search function, switch number representation FN18: SYSREAD ID51 expanded: • NR6: Type of tool (PTYP) • NR7 to NR11: Value 1 (P1) to value 5 (P5) • NR12: Pocket reserved (RSV) • NR13: Pocket above locked (LOCKED_ABOVE) • NR14: Pocket below locked (LOCKED_BELOW) • NR15: Pocket at left locked (LOCKED_LEFT) • NR16: Pocket at right locked (LOCKED_RIGHT)
September 2006
Software Releases
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Module 9217: New error code W1022 = 36 Module 9217: Close window with Event $010000 via Module 9261 Module 9100: Transfer parameter 2 added Module 9179: Status information about spindle(s) Module 9282: Tool usage test for pallet table Module 9343: Compilation and activation of magazine rules TOOL USAGE TEST soft key also for pallet tables Error message if the time programmed in AUTOSTART is in the past Czech dialog language for the measuring logs of the touch probe cycles Management of multiple ID addresses for the control If desired, progress display when inserting new lines in a table Hide/show block numbers in the programming graphics Soft keys of the search function improved Last speed set for the graphic simulation in Program Test is remembered For some entry functions RETURN can also be used (not just ENT) List of the PLC operands with brief descriptions under PLC:\JH\ English instead of Russian dialogs in the freely definable tables M114 effective locally in cycles Rotary axes can be programmed within an “M120 sequence.” Status display: Maximum of eight datum shifts, maximum of six scaling factors, mirrored axes in sequence Paging with ENT or NO ENT during entry in screen masks Error message if during a touch probe cycle call the current tilting angles do not match the angles in Tilt working plane. With PROBING ROT the warning can be acknowledged and the cycle can be executed. Enter information into the log with FN38: SEND. Cycle 8 (MIRROR IMAGE): Maximum of three axes Cycle 22 (ROUGH-OUT): Parameter Q208 added (FEED RATE FOR RETRACTION). Cycle 28 (CYLINDER SURFACE): Parameter Q21 (TOLERANCE) Cycle 29 CYLINDER SURFACE RIDGE Cycle 39 CYLINDER SURFACE CONTOUR
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HEIDENHAIN Technical Manual iTNC 530
2.6.3 NC Software 340 480-xx NC software 320 480-02 (export 340 481-02)
Release: 10/2002 Initial version Functions correspond to NC software 340 422-02
NC software 320 480-03 (export 340 481-03)
Release: 01/2003 Functions correspond to NC software 340 422-03 Additional improvements: MP7235 removed: Time difference is assumed by the Windows PC
NC software 320 480-04 (export 340 481-04)
Release: 02/2003
NC software 320 480-05 (export 340 481-05)
Release: 04/2003
NC software 320 480-06 (export 340 481-06)
Release: 06/2003
Functions correspond to NC software 340 422-04
Functions correspond to NC software 340 422-05
Functions correspond to NC software 340 422-06 Additional improvements: Module 9133 expanded by code 2 (temperature of 2nd CPU) MP7225: Disable Windows drives in the TNC file manager New hard disks support Windows 2000 multi-language version The HeROS real-time operating system cyclically tests the internal communication. If this is not possible for more than 5 seconds, M4600 is set. If this is not possible for more than 10 seconds, the control is shut down.
NC software 320 480-07 (export 340 481-07)
Release: 08/2003
NC software 320 480-08 (export 340 481-08)
Release: 10/2003
NC software 320 480-09 (export 340 481-09)
Release: 11/2003
Service pack 340 502-01 for NC software 320 480-09 (340 503-01 for 340 481-09)
Release: 12/2003
September 2006
Functions correspond to NC software 340 422-07
Functions correspond to NC software 340 422-08
Functions correspond to NC software 340 422-09
Functions correspond to NC software 340 500-01
Software Releases
2 – 81
Service pack 340 502-02 for NC software 320 480-09 (340 503-02 for 340 481-09)
Release: 03/2004
NC software 320 480-10 (export 340 481-10)
Release: 05/2004 Functions correspond to NC software 340 422-10 Additional improvements: New hard disks contain Microsoft service pack 4 for Windows 2000 and Microsoft patch KB835732. Soft keys can be selected and soft-key rows switched by clicking the mouse. Log Files button on the iTNC Control Panel (reserved for HEIDENHAIN) The start and shut-down of the control software is recorded in a log for internal diagnostic purposes.
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HEIDENHAIN Technical Manual iTNC 530
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September 2006
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2 – 83
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HEIDENHAIN Technical Manual iTNC 530
3 Mounting and Electrical Installation 3.1 General Information......................................................................... 3 – 3 3.1.1 Safety Precautions ..................................................................... 3 – 3 3.1.2 Degrees of Protection ................................................................ 3 – 4 3.1.3 Electromagnetic Compatibility ................................................... 3 – 4 3.2 Handling of the HDR Hard Disk and the SIK .................................. 3 – 5 3.3 Environmental Conditions............................................................... 3 – 7 3.3.1 Heat Generation and Cooling ..................................................... 3 – 7 3.3.2 Humidity .................................................................................... 3 – 8 3.3.3 Mounting Elevation .................................................................... 3 – 8 3.3.4 Mechanical Vibration .................................................................. 3 – 8 3.3.5 Mounting Attitude of MC 42x(B), CC 42x, UV xxx, UM xxx, UE 2xx B ... 3 – 9 3.3.6 Mounting Position of Screen ................................................... 3 – 10 3.4 Connection Overview for iTNC 530 ............................................ 3 – 11 3.5 Power Supply for the iTNC 530..................................................... 3 – 19 3.5.1 UV 105 Power Supply Unit ...................................................... 3 – 21 3.5.2 UV 105B (Non-HEIDENHAIN Inverter Systems) ...................... 3 – 24 3.5.3 UV 106B Power Supply Unit .................................................... 3 – 29 3.6 Power Supply for PLC Outputs ..................................................... 3 – 33 3.6.1 Power Supply for PL 4xxB ....................................................... 3 – 35 3.6.2 Power Supply for PL 510 ......................................................... 3 – 36 3.7 Power Supply for Control-Is-Ready Signal .................................. 3 – 37 3.8 Power Supply for the Display Units ............................................. 3 – 37 3.9 Buffer Battery ................................................................................. 3 – 38 3.10 Drive Controller Enable................................................................ 3 – 40 3.11 Encoder Connections .................................................................. 3 – 42 3.11.1 General Information ............................................................... 3 – 42 3.11.2 Input for Position Encoder .................................................... 3 – 43 3.11.3 Input of Speed Encoder ....................................................... 3 – 45 3.12 Adapters for Encoder Signals ..................................................... 3 – 49 3.13 Motor Power Stage Connection ................................................ 3 – 53 3.14 Analog Input ................................................................................. 3 – 54 3.15 Analog Nominal Value Output.................................................... 3 – 58 3.15.1 Nominal Value Output ............................................................ 3 – 58 3.16 Touch Probe Systems .................................................................. 3 – 63 3.16.1 Triggering Touch Probe for Workpiece Measurement .......... 3 – 63 3.16.2 Triggering Touch Probe for Tool Measurement ..................... 3 – 65 3.17 Data Interfaces.............................................................................. 3 – 67 3.18 Handwheel Input .......................................................................... 3 – 71 3.18.1 HR 4xx Portable Handwheel .................................................. 3 – 72 3.18.2 HR 130 Panel-Mounted Handwheel ...................................... 3 – 74 3.18.3 HRA 110 Handwheel Adapter ................................................ 3 – 74 3.19 Input: Spindle Reference Signal.................................................. 3 – 76 3.20 Switching Inputs 24 Vdc (PLC).................................................... 3 – 77 3.20.1 Input Signals and Addresses ................................................. 3 – 77 3.20.2 PLC Inputs on the PL 410B ................................................... 3 – 80 3.20.3 PLC Inputs on the PL 405B ................................................... 3 – 82 3.20.4 PLC Inputs on the PL 510 ...................................................... 3 – 83 3.21 Switching Outputs 24 Vdc (PLC) ................................................ 3 – 85
September 2006
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3.22 PLC Input/Output Units............................................................... 3 – 91 3.22.1 PL 4xxB ................................................................................. 3 – 91 3.22.2 PL 510 ................................................................................... 3 – 94 3.23 Machine Operating Panel ............................................................ 3 – 98 3.24 iTNC Keyboard Unit .................................................................. 3 – 101 3.25 Flat-Panel Display....................................................................... 3 – 103 3.26 BTS 1x0 Monitor/Keyboard Switch Unit ................................ 3 – 107 3.27 USB Interface.............................................................................. 3 – 109 3.28 Cable Specifications................................................................... 3 – 110 3.29 Dimensions ................................................................................. 3 – 111 3.29.1 MC 422B / 5 Position Encoder Inputs and CC 422 with 6 Control Loops ............................................................ 3 – 111 3.29.2 MC 422B / 10 Position Encoder Inputs and CC 422 with 10 or 12 Control Loops ................................................. 3 – 112 3.29.3 MC 420 and CC 422 with 6 Control Loops .......................... 3 – 113 3.29.4 Dimensions for MC 422B/CC 424 with 6 Control Loops ..... 3 – 114 3.29.5 Dimensions for MC 422B/CC 424 with 8 Control Loops ..... 3 – 115 3.29.6 Dimensions for MC 422B/CC 424 with 10 Control Loops ... 3 – 116 3.29.7 Dimensions for MC 422B/CC 424 with 12 and 14 Control Loops . 3 – 117 3.29.8 UV 105 ................................................................................. 3 – 118 3.29.9 TE 420 ................................................................................. 3 – 119 3.29.10 TE 520B / TE 530 / TE 530B .............................................. 3 – 120 3.29.11 MB 420 .............................................................................. 3 – 121 3.29.12 BF 120 ............................................................................... 3 – 122 3.29.13 BF 150 ............................................................................... 3 – 123 3.29.14 BTS 120/BTS 150 .............................................................. 3 – 124 3.29.15 PL 4xxB ............................................................................. 3 – 125 3.29.16 PL 510 ............................................................................... 3 – 126 3.29.17 Adapter Block for the Data Interface ................................. 3 – 127 3.29.18 USB Hub ............................................................................ 3 – 128 3.29.19 Line-Drop Compensator .................................................... 3 – 129 3.29.20 Handwheels ....................................................................... 3 – 130 3.29.21 Touch Probe Systems ....................................................... 3 – 137 3.30 Grounding Diagrams.................................................................. 3 – 145 3.30.1 Grounding Diagram for iTNC 530 with Modular Non-Regenerative HEIDENHAIN Inverter System . 3 – 145 3.30.2 Grounding Diagram for iTNC 530 with Modular Regenerative HEIDENHAIN Inverter System ......... 3 – 146 3.30.3 Grounding Diagram for iTNC 530 with UE 2xxB Non-Regenerative HEIDENHAIN Compact Inverter ............. 3 – 147 3.30.4 Grounding Diagram for iTNC 530 with UR 2xx Regenerative HEIDENHAIN Compact Inverter ..................... 3 – 148 3.31 Basic Circuit Diagrams............................................................... 3 – 149 3.31.1 Availability ............................................................................ 3 – 149 3.32 Cable Overviews......................................................................... 3 – 150 3.32.1 Cable Overview for iTNC 530 – Basic Configuration ........... 3 – 150 3.32.2 Cable Overview for iTNC 530 with HEIDENHAIN Inverter Systems ............................................ 3 – 151 3.32.3 Cable Overview for iTNC 530 with SIMODRIVE or POWER DRIVE Inverter Systems ................ 3 – 152 3.32.4 Cable Overview for iTNC 530 – Accessories ....................... 3 – 153
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HEIDENHAIN Technical Manual iTNC 530
3 Mounting and Electrical Installation 3.1 General Information Warning Keep the following in mind during mounting and electrical installation: National regulations for power installations Interference and noise immunity Conditions of operation Mounting attitude 3.1.1 Safety Precautions Danger Ensure that the main switch of the control or machine is switched off when you engage or disengage connecting elements or connection clamps. Danger Ensure that the equipment grounding conductor is continuous. Interruptions in the equipment grounding conductor may cause damage to persons or property. Danger Incorrect or not optimized input values may lead to malfunction of the machine and may thus cause damage to persons or property. Modifications of the machine parameters should be done with caution and uncontrolled axis motions should be taken into account. Warning In order to be able to judge the behavior of an NC controlled machine, you need to have fundamental knowledge about drives, inverters, controls and encoders. Inappropriate use may cause considerable damage to persons or property. HEIDENHAIN does not accept any responsibility for direct or indirect damage caused to persons or property through incorrect use or operation of the machine.
September 2006
General Information
3–3
Danger The interfaces for the PLC inputs/outputs, machine operating panel and PL connection comply with the requirements for basic insulation in accordance with IEC 742 EN 50 178. Only units that comply with the requirements of IEC 742 EN 50 178 for basic insulation may be connected, otherwise damage to persons or property may be caused. The maximum dc voltage mean value of the PLC inputs is 31 V. 3.1.2 Degrees of Protection The following components fulfill the requirements for IP54 (dust and splashproof protection). Visual display unit (when properly installed) Keyboard unit (when properly installed) Machine operating panel (when properly installed) Handwheel 3.1.3 Electromagnetic Compatibility This unit fulfills the requirements for Class A according to EN 55022 and is intended for operation in industrially zoned areas. Protect your equipment from interference by observing the following rules and recommendations. Likely sources of interference
Interference is mainly produced by capacitive and inductive coupling from electrical conductors or from device inputs/outputs, such as: Strong magnetic fields from transformers or electric motors Relays, contactors and solenoid valves High-frequency equipment, pulse equipment and stray magnetic fields from switch-mode power supplies Power lines and leads to the above equipment
Protective measures
Keep a minimum distance of 20 cm from the MC 42x(B), CC 42x and its leads to interfering equipment. Keep a minimum distance of 10 cm from the MC 42x(B), CC 42x and its leads to cables that carry interference signals. For cables in metallic ducting, adequate decoupling can be achieved by using a grounded separation shield. Shielding according to IEC 61800-5-1. Use potential compensating lines with 6 mm2 cross-sections Use only genuine HEIDENHAIN cables, connectors and couplings
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HEIDENHAIN Technical Manual iTNC 530
3.2 Handling of the HDR Hard Disk and the SIK Shipping brace of the hard disk
The HDR hard disks of the MC 42x(B) are fitted with a shipping brace. Before putting the iTNC 530 into service, the shipping brace of the hard disk must be removed. Warning Do not transport the HDR with the MC 42x(B) after you have installed the HDR. If the entire machine is being transported, or the MC is being transported inside the electrical cabinet, the shipping brace for the hard disk is usually not required. However, if the possibility exists that the hard disk could be subject to increased shock or vibration loads, then you must remove the hard disk from the MC for transport, reinstall the shipping brace in the HDR, and send the HDR separately in the original packaging. Should servicing become necessary (i.e. the HDR is being shipped on its own), the hard disk must be secured with the shipping brace.
Festplatte entriegeln . Unlocking the hard disk 2. Lasche nach hinten drücken. 1. Sicherung anheben. Press tab down. Lift the catch.
Festplatte verriegeln . Locking the hard disk 1. hineindrücken, nach vorne schieben. (Click) Press hard disk down, slide it forwards. (click) 2. nach hinten schieben. (Click) Slide it backwards. (click)
1.
September 2006
2.
Grifflaschen benützen. Use holding tabs.
Handling of the HDR Hard Disk and the SIK
3–5
HDR and SIK removal/insertion
Festplatteneinschub HDR HDR plug-in hard-disk module
SIK-Einbau Integration of SIK CLICK
MC 420 MC 422 B
SIK Achtung: Im Servicefall Festplatte verriegeln, SIK entnehmen und aufbewahren. Note: Should servicing become necessary, lock the hard disk, remove the SIK and keep it in a safe place.
HDR-Einbau . Installation of HDR
1. SIK einbauen Integrate SIK. 2. HDR einschieben, auf Verriegelung achten. (Click) Insert HDR. (click)
3. Bügel umlegen und gegen Lasche andrücken. (Click) Turn the bracket over and press it against the tab until it "clicks" in place.
Bügel Bracket
Lasche Tab
Andrücken, auf Verriegelung achten Pull bracket down, ensure that it is locked in place.
HDR-Ausbau in umgekehrter Reihenfolge . To remove the HDR, proceed in reverse order 1. Bügel entriegeln (Click) und aufstellen. 2. Lasche drücken und HDR rausziehen. 3. SIK entnehmen. Unlock the bracket so that it "unclicks" and pull it up. Press the tab and pull out the HDR. Remove the SIK.
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HEIDENHAIN Technical Manual iTNC 530
3.3 Environmental Conditions 3.3.1 Heat Generation and Cooling Danger The permissible ambient temperature in operation is between 0 °C and 40 °C. Any deviation from this will impair the operating safety of the machine. A heat exchanger or a cooling unit is preferable for controlling the internal temperature of the electrical cabinet. If filtered air is blown into the electrical cabinet for cooling purposes, the standard IEC 61800-5-1 applies, which permits contamination level 2. Danger Be sure to take the measures required for preventing dust from entering the electrical cabinet. Dust depositing inside electrical devices may cause them to fail and impair the safety of the system.
Incorrec
Correct
Blocking elements Elements with considerable heat generation
September 2006
Environmental Conditions
3–7
3.3.2 Humidity Permissible humidity: Maximum 75% in continuous operation Maximum 95% for not more than 30 days a year (randomly distributed) In tropical areas it is recommended that the iTNC 530 not be switched off, so as to avoid dew deposition on the circuit boards. 3.3.3 Mounting Elevation The maximum elevation for mounting is 3000 m above sea level. 3.3.4 Mechanical Vibration Permissible vibration: ± 0.075 mm, 10 to 41 Hz 5 m/s2, 41 Hz to 500 Hz Permissible shock:
50 m/s2, 11 ms
Permissible shock with shipping brace for hard disk: 300 m/s2, 11 ms
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HEIDENHAIN Technical Manual iTNC 530
3.3.5 Mounting Attitude of MC 42x(B), CC 42x, UV xxx, UM xxx, UE 2xx B Warning When mounting, please observe proper minimum clearance, space requirements, length and position of the connecting cables.
Leave space for air circulation! Temperatures of > 150 °C are possible with UE 21xB with integral braking resistor; Do not mount any temperaturesensitive components!
Air outlet
Leave space for servicing!
Leave space for air circulation and servicing!
Air inlet
*) Space for removing the HDR hard disk
Leave space for servicing and connecting cable!
UV(R), UE, UM
September 2006
CC 42x, MC 42x(B)
Environmental Conditions
3–9
3.3.6 Mounting Position of Screen BF 120, BF 150
The BF 120 and BF 150 flat-panel displays must be viewed with a slight backward slant. 8
During installation, ensure a viewing angle of 150° > α > 90°.
BF 120 BF 150
a
TE
3 – 10
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HEIDENHAIN Technical Manual iTNC 530
3.4 Connection Overview for iTNC 530 MC 422B / 5 position encoder inputs and CC 422 with 6 control loops
X127 X128
X150 at bottom of housing
X1 to X5 X35 to X38
Encoder for position Vacant
X15 to X20
Encoder for speed
X51 to X60
PWM output
X8, X9 X12 X13
Nominal value output, analog TS touch trigger probe TT 130 touch trigger probe
X23 X26 X27 X28 X127 X128 X141, X142
Handwheel Ethernet data interface RS-232-C/V.24 data interface RS-422/V.11 data interface RS-232-C/V.24 (only for Windows 2000) RS-422/V.11 (only for Windows 2000) USB interface
X30 X34 X41 X42 X44
24 V reference signal for spindle 24 V for "control-is-ready" output PLC output PLC input 24 V PLC supply voltage
X45 X46 X47 X48 X149 (X49) X131
Keyboard unit Machine operating panel PLC expansion PLC analog input BF 150 (BF 120) visual display unit Reserved
X69
Power supply
X121, X125 X165, X166
Reserved Reserved
X74 X150
5-V power supply Axis-specific drive release
B
Signal ground Equipment ground (YL/GN)
Warning Do not engage or disengage any connecting elements while the unit is under power!
September 2006
Connection Overview for iTNC 530
3 – 11
MC 422B/10 position encoder inputs and CC 422 with 10 or 12 control loops
X127 X128
X150, X151 at bottom of housing
X1 to X6 X35 to X38
Encoder for position Encoder for position
X15 to X20 X80 to X83 X84, X85
Encoder for speed Encoder for speed Encoder for speed (12 control loops)
X51 to X60 X61, X62
PWM output PWM output (12 control loops)
X8, X9 X12 X13
Nominal value output, analog TS touch trigger probe TT 130 touch trigger probe
X23 X26 X27 X28 X127 X128 X141, X142
Handwheel Ethernet data interface RS-232-C/V.24 data interface RS-422/V.11 data interface RS-232-C/V.24 (only for Windows 2000) RS-422/V.11 (only for Windows 2000) USB interface
X30 X34 X41 X42 X44
24 V reference signal for spindle 24 V for "control-is-ready" output PLC output PLC input 24 V PLC supply voltage
X45 X46 X47 X48 X149 (X49) X131
Keyboard unit Machine operating panel PLC expansion PLC analog input BF 150 (BF 120) visual display unit Reserved
X69
Power supply
X121, X125 X165, X166, X167
Reserved Reserved
X74 X150/X151
5-V power supply Axis-specific drive release
B
Signal ground Equipment ground (YL/GN)
Warning Do not engage or disengage any connecting elements while the unit is under power!
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HEIDENHAIN Technical Manual iTNC 530
MC 422B and CC 424 with max. 6 control loops
X15 X17 X19
X201 to X206
Encoder for position
X15 to X20
Encoder for speed
X51 to X56
PWM output
X8, X9 X12 X13
Nominal value output, analog TS touch trigger probe TT 130 touch trigger probe
X23 X26 X27 X28 X127 X128 X141, X142
Handwheel Ethernet data interface RS-232-C/V.24 data interface RS-422/V.11 data interface RS-232-C/V.24 (only for Windows 2000) RS-422/V.11 (only for Windows 2000) USB interface
X30 X34 X41 X42 X44
24 V reference signal for spindle 24 V for "control-is-ready" output PLC output PLC input 24 V PLC supply voltage
X45 X46 X47 X48 X149 (X49) X131
Keyboard unit Machine operating panel PLC expansion PLC analog input BF 150 (BF 120) visual display unit Reserved
X69
Power supply
X16 X18 X20
X51 X53 X55
X52 X54 X56
0V 5V X69 X201 X203 X205
X202 X204 X206
X150 at bottom of housing
X121, X125, X165
Reserved
X74 X150
5-V power supply Axis-specific drive release
B
Signal ground Equipment ground (YL/GN)
Warning Do not engage or disengage any connecting elements while the unit is under power!
September 2006
Connection Overview for iTNC 530
3 – 13
MC 422B and CC 424 with max. 8 control loops
X15 X17X19 X80
X16 X18X20 X81
X51 X53 X55 X57
X52
X58 X54 X56
X74 X69 X207
X201X203
X201 to X208
Encoder for position
X15 to X20 X80 to X81
Encoder for speed Encoder for speed
X51 to X58
PWM output
X8, X9 X12 X13
Nominal value output, analog TS touch trigger probe TT 130 touch trigger probe
X23 X26 X27 X28 X127 X128 X141, X142
Handwheel Ethernet data interface RS-232-C/V.24 data interface RS-422/V.11 data interface RS-232-C/V.24 (only for Windows 2000) RS-422/V.11 (only for Windows 2000) USB interface
X30 X34 X41 X42 X44
24 V reference signal for spindle 24 V for “control-is-ready” output PLC output PLC input 24 V PLC supply voltage
X45 X46 X47 X48 X149 X131
Keyboard unit Machine operating panel PLC expansion PLC analog input BF 150 monitor Reserved
X69
Power supply
X205 X202X204
X208
X206
X150 at bottom of housing
X121, X125, X165
Reserved
X74 X150
5-V power supply Axis-specific drive release
B
Signal ground Equipment ground (YL/GN)
Warning Do not engage or disengage any connecting elements while the unit is under power!
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HEIDENHAIN Technical Manual iTNC 530
MC 422B and CC 424 with max. 10 control loops X201 to X210
Encoder for position
X15 X17X19 X80 X82
X15 to X20 X80 to X83
Encoder for speed Encoder for speed
X16 X18X20 X81 X83
X51 to X60
PWM output
X8, X9 X12 X13
Nominal value output, analog TS touch trigger probe TT 130 touch trigger probe
X23 X26 X27 X28 X127 X128 X141, X142
Handwheel Ethernet data interface RS-232-C/V.24 data interface RS-422/V.11 data interface RS-232-C/V.24 (only for Windows 2000) RS-422/V.11 (only for Windows 2000) USB interface
X30 X34 X41 X42 X44
24 V reference signal for spindle 24 V for "control-is-ready" output PLC output PLC input 24 V PLC supply voltage
X45 X46 X47 X48 X149 (X49) X131
Keyboard unit Machine operating panel PLC expansion PLC analog input BF 150 (BF 120) visual display unit Reserved
X69, X169
Power supply
X51 X53 X55 X57 X59
X52
X58 X54 X56
X60
0V 5V X69
X169
X201X203
X207 X209
X205 X202X204
X208 X210
X206
X150, X151 at bottom of housing
X121, X125, X165
Reserved
X74 X150/X151
5-V power supply Axis-specific drive release
B
Signal ground Equipment ground (YL/GN)
Warning Do not engage or disengage any connecting elements while the unit is under power! September 2006
Connection Overview for iTNC 530
3 – 15
MC 422B and CC 424 with max. 12 control loops
X15 X17X19
X16 X18X20
X51 X53 X55
X82 X84 X86
X83 X85 X87
X59 X61 X63
X60
X52 X54 X56
X62 X64
X74 X69 X201X203 X205
X169 X209
X213
X211 X202X204 X206
X210
X214
X212
X150, X151 at bottom of housing
X201 to X206 X209 to X214
Encoder for position Encoder for position
X15 to X20 X82 to X87
Encoder for speed Encoder for speed
X51 to X56 X59 to X64
PWM output PWM output
X8, X9 X12 X13
Nominal value output, analog TS touch trigger probe TT 130 touch trigger probe
X23 X26 X27 X28 X127 X128 X141, X142
Handwheel Ethernet data interface RS-232-C/V.24 data interface RS-422/V.11 data interface RS-232-C/V.24 (only for Windows 2000) RS-422/V.11 (only for Windows 2000) USB interface
X30 X34 X41 X42 X44
24 V reference signal for spindle 24 V for “control-is-ready” output PLC output PLC input 24 V PLC supply voltage
X45 X46 X47 X48 X149 X131
Keyboard unit Machine operating panel PLC expansion PLC analog input BF 150 monitor Reserved
X69, X169
Power supply
X121, X125, X165
Reserved
X74 X150, X151
5-V power supply Axis-specific drive release
B
Signal ground Equipment ground (YL/GN)
Warning Do not engage or disengage any connecting elements while the unit is under power!
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HEIDENHAIN Technical Manual iTNC 530
MC 422B and CC 424 with max. 14 control loops
X15 X17X19 X80 X82 X84 X86
X16 X18X20 X81 X83 X85 X87
X51 X53 X55 X57 X59 X61 X63
X60
X52 X54 X56 X58
X62 X64
X74 X69 X201
X169 X205
X203 X202
X209
X207
X206
X204
X208
X213
X211 X210
X214
X212
X150, X151 at bottom of housing
X201 to X208 X209 to X214
Encoder for position Encoder for position
X15 to X20 X80 to X87
Encoder for speed Encoder for speed
X51 to X58 X59 to X64
PWM output PWM output
X8, X9 X12 X13
Nominal value output, analog TS touch trigger probe TT 130 touch trigger probe
X23 X26 X27 X28 X127 X128 X141, X142
Handwheel Ethernet data interface RS-232-C/V.24 data interface RS-422/V.11 data interface RS-232-C/V.24 (only for Windows 2000) RS-422/V.11 (only for Windows 2000) USB interface
X30 X34 X41 X42 X44
24 V reference signal for spindle 24 V for “control-is-ready” output PLC output PLC input 24 V PLC supply voltage
X45 X46 X47 X48 X149 X131
Keyboard unit Machine operating panel PLC expansion PLC analog input BF 150 monitor Reserved
X69, X169
Power supply
X121, X125, X165
Reserved
X74 X150, X151
5-V power supply Axis-specific drive release
B
Signal ground Equipment ground (YL/GN)
Warning Do not engage or disengage any connecting elements while the unit is under power!
September 2006
Connection Overview for iTNC 530
3 – 17
MC 420 and CC 422 with max. 6 control loops
X10
X48
X147
X150 at bottom of housing
X1 to X5
Encoder for position
X15 to X20
Encoder for speed
X51 to X56
PWM output
X8 X12 X13
Nominal value output, analog TS touch trigger probe TT 130 touch trigger probe
X23 X26 X27 X28
Handwheel Ethernet data interface RS-232-C/V.24 data interface RS-422/V.11 data interface
X141
USB interface
X30 X34 X41 X42 X44
24 V reference signal for spindle 24 V for "control-is-ready" output PLC output PLC input 24 V PLC supply voltage
X45 X46 X147 X48 X149
Keyboard unit Machine operating panel PLC expansion PLC analog input BF 150 monitor
X69
Power supply
X10 X121 X165, X166
Reserved Reserved Reserved
X74 X150
5-V power supply Axis-specific drive release
B
Signal ground Equipment ground (YL/GN)
Warning Do not engage or disengage any connecting elements while the unit is under power!
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HEIDENHAIN Technical Manual iTNC 530
3.5 Power Supply for the iTNC 530 The UV 1x0 or UV 105 power supply unit supplies the iTNC 530 with power. Power is supplied through X69/X169 and possibly in addition through a 5-V terminal on the CC 42x. The control monitors the 5-V supply voltage. If it falls below 4.75 V, the error message 5-V power supply too low appears. If it rises above 5.4 V, 5-V power supply too high appears. For information on the UV 1x0 supply units, refer to the “Inverter Systems and Motors” Technical Manual. Whether the UV 1x0 supply unit is sufficient or whether a UV 105 is needed as additional equipment depends on the current consumption of the used units. Device
Load capacity
UV 1x0, UE 2xx B
8.50 A
UV 105, UV 105 B, UV 106 B, UVR 150
20.00 A
Device
Current consumption of the 5-V supply
MC 420
4.8 A
MC 422 B
5.20 A
MC 422B (with 2 processors)
7.40 A
USB components
Max. 2 x 0.5 Aa
CC 422 / 6 control loops
1.50 A
CC 422/10 or 12 control loops
3.00 A
CC 424 / 6 control loops
2.50 A
CC 424 / 10 control loops
4.60 A
LS, LB
0.15 A
ERN, ROD, RON
0.20 A
Absolute rotary encoders
0.25 A (+0.085 A with line drop compensator)b
Absolute angle encoders
0.35 A (+0.085 A with line drop compensator)b
LC
0.30 A (+0.085 A with line drop compensator)b a. If USB components require more than 0.5 A, a separate power supply becomes necessary for these components. One possibility is the USB hub from HEIDENHAIN (368 735-01). b. For cable lengths > 10 m between the logic unit and the encoders with EnDat interfaces, a line drop compensator is required (efficiency = 75 %).
September 2006
Power Supply for the iTNC 530
3 – 19
Example: Device
Current consumption
MC 422 B
5.20 A
CC 422 / 6 control loops
1.50 A
3 x LS for X, Y, Z
0.45 A
1 x ROD for C
0.2 A
4 x ERN for X, Y, Z, C, spindle
1.0 A
Total
8.35 A < 8.50 A
A UV 105 unit is not needed for this application.
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HEIDENHAIN Technical Manual iTNC 530
3.5.1 UV 105 Power Supply Unit Connection overview
Conductor bar
Power supply with UZ
X74
5-V power supply for CC 42x
Free ribbon cable
Power supply for CC 42x (to X69 on CC 42x)
X69
Status signals from UV 1x0
X31
Power supply
+5 V 0 V
September 2006
Power Supply for the iTNC 530
3 – 21
Warning Do not engage or disengage any connecting elements while the unit is under power! X69, X169: NC supply voltage and control signals Note For the NC to be able to evaluate the status signals of the power supply units, connector X69 of the CC 4xx must be connected by ribbon cable with X69 of the UV 105. Since non-HEIDENHAIN inverters do not send any status signals, an adapter connector (Id. Nr. 349 211-01) must be connected to X69 on the UV 105. This connector is delivered with the UV 105. Pin layout:
3 – 22
50-pin ribbon connector
Assignment
50-pin ribbon connector
Assignment
1a to 5b
+5 V
16b
GND
6a to 7b
+12 V
17a
RDY.PS
8a
+5 V (low-voltage 17b separation)
GND
8b
0 V (low-voltage separation)
18a
ERR.ILEAK
9a
+15 V
18b
GND
9b
–15 V
19a
PF.PS.AC (only UV 120, UV 140, UV 150, UR 2xx)
10a
UZAN
19b
GND
10b
0V
20a
Do not assign
11a
IZAN
20b
GND
11b
0V
21a
Do not assign
12a
RES.PS
21b
GND
12b
0V
22a
Do not assign
13a
PF.PS.ZK
22b
GND
13b
GND
23a
Reserved (SDA)
14a
ERR.UZ.GR
23b
GND
14b
GND
24a
Reserved (SLC)
15a
ERR.IZ.GR
24b
GND
15b
GND
25a
RES.LE
16a
ERR.TMP
25b
GND
HEIDENHAIN Technical Manual iTNC 530
X74: 5-V power supply
X31: Supply voltage for UV 105
Pin layout: Wire color of 5-V connection
5-V terminal on CC 42x
BK
0V
RD
+5 V
Supply voltage: 400 V ± 10 % Pin layout: Connecting terminal
Assignment
U
Ua
V
Va Equipment ground (YL/GY), ≥ 10 mm2 a. Connecting cable: 1.5 mm2 Note The supply voltage at terminals U and V must: be supplied via an isolating transformer (300 VA, basic insulation in accordance with EN 50 178 or VDE 0550) for non-HEIDENHAIN inverters and regenerative HEIDENHAIN inverter systems (UV 120, UV 140, UV 150, UR 2xx). There is no need for an isolating transformer if non-regenerative HEIDENHAIN inverter systems are used. Warning When using an isolating transformer, do not ground this isolating transformer on the secondary side! The isolating transformer decouples the dc-link voltage from ground. Grounding the isolating transformer on the secondary side leads to an addition of the dc-link voltage and the supply voltage. This overloads the UV 105, thereby destroying it! Please keep this in mind in your circuit diagrams.
Power supply of the UV 105 with UZ
The UV 105 is powered with dc-link voltage UZ through the conductor bars (for HEIDENHAIN inverter systems). a cable which is connected instead of the conductor bar (for nonHEIDENHAIN inverter systems). The dc-link voltage is monitored by the control (see “Monitoring of the Power Supply Unit” on page 6 – 247).
September 2006
Power Supply for the iTNC 530
3 – 23
3.5.2 UV 105 B (Non-HEIDENHAIN Inverter Systems) General information
The UV 105 B (Id. Nr. 532 581-01) was designed solely for the use of HEIDENHAIN controls in connection with non-HEIDENHAIN inverter systems. It is essential for the supply voltages of the HEIDENHAIN control units. UV 105 B power supply unit for the operation of HEIDENHAIN controls with non-HEIDENHAIN inverter systems
Id. Nr. 532 581-01 UV 105 B
UV 105 B
Specifications Specifications Power supply (at X31) Protection Load capacity (5 V) Power consumption Degree of protection Module width Weight ID number
UV 105 B 400 Vac ± 10 % 50 Hz 6.3 A / gRL 20 A Max. 400 W IP 20 159 mm 3 kg 532 556-01
Warning The UV 105 B is not compatible with the UV 105 (Id. Nr. 344 980-xx), and no HEIDENHAIN inverter components can be operated with this supply voltage.
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HEIDENHAIN Technical Manual iTNC 530
Connection overview
DO NOT CONNECT WITH LINE POWER
U V +UDC UDC
X31 X31
U/V +Uz / -Uz
X31
X74
+5 V 0V
READY UV
400-V supply voltage Supply voltage from dc link
X74
5-V power supply for CC 42x
Free ribbon cable
Further power supply and status signals for CC 42x (to X69 on CC 42x)
LED green
Operating display for UV 105 B
Equipment ground (YL/GN)
Warning Do not engage or disengage any connecting elements while the unit is under power!
September 2006
Power Supply for the iTNC 530
3 – 25
Status signals via ribbon cable Note For the control to be able to evaluate the status signals of the power supply unit, the ribbon cable of the UV 105 must be connected with X69 of the control. Connection:
X74: 5-V connection of the UV 105 B
3 – 26
50-pin ribbon connector
Assignment
50-pin ribbon connector
Assignment
1a to 5b
+5 V
16b
GND
6a to 7b
+12 V
17a
RDY.PS
8a
+5 V (low-voltage 17b separation)
GND
8b
0 V (low-voltage separation)
18a
ERR.ILEAK
9a
+15 V
18b
GND
9b
–15 V
19a
PF.PS.AC (only UV 120, UV 140, UV 150, UR 2xx)
10a
UZAN
19b
GND
10b
0V
20a
Do not assign
11a
IZAN
20b
GND
11b
0V
21a
Do not assign
12a
RES.PS
21b
GND
12b
0V
22a
Do not assign
13a
PF.PS.ZK
22b
GND
13b
GND
23a
Reserved (SDA)
14a
ERR.UZ.GR
23b
GND
14b
GND
24a
Reserved (SLC)
15a
ERR.IZ.GR
24b
GND
15b
GND
25a
RES.LE
16a
ERR.TMP
25b
GND
Connection: Wire color of 5-V connection
5-V terminal on CC 42x
BK
0V
RD
+5 V
HEIDENHAIN Technical Manual iTNC 530
X31: Supply voltage for UV 105 B
Supply voltage: 400 V ± 10 % Connection: Connecting terminal
Assignment
U
Phase 1 / 400 Vac ±10 % / 50 Hz to 60 Hz
V
Phase 2 / 400 Vac ±10 % / 50 Hz to 60 Hz Equipment ground (YL/GY), ≥ 10 mm2 Cable: Wire cross section: 1.5 mm2 (AWG 16) Line fuse: 6.3 A (gRL) Siemens Sitor type
+Uz
Positive dc-link voltage of the nonHEIDENHAIN inverter system
–Uz
Negative or reference potential of the dc-link voltage of the non-HEIDENHAIN inverter system Cable: Wire cross section: 1.5 mm2 (AWG 16) The dc-link connection of the UV 105B is protected by the additional PCB on the non-HEIDENHAIN inverter system (4 A)
Tightening torque: for the connecting terminals 0.7 Nm (6.5 - 7 lbs/in) Grounding terminal: ≥ 10 mm2 (AWG 6) Strain relief: Ensure that the connecting cables are not subject to excessive strain Note If you are using non-HEIDENHAIN inverter systems, you must connect the supply voltage to the terminals U and V via an isolating transformer (300 VA, basic insulation as per EN 50 178 or VDE 0550). Warning When using an isolating transformer, do not ground this isolating transformer on the secondary side! The isolating transformer decouples the line voltage from ground. Grounding the isolating transformer on the secondary side leads to an addition of the dc-link voltage and the supply voltage. This could destroy the UV 105 B! Please keep this in mind in your circuit diagrams.
September 2006
Power Supply for the iTNC 530
3 – 27
UZ: Supply of the UV 105 B with UZ
Since the power to the UV 105 B is supplied through the dc-link, the voltage fed into the dc-link by the motors that are still running can be used during line voltage failures. The UV 105B uses this voltage to maintain the power supply to the control until the non-HEIDENHAIN inverter system has been shut down properly by the control. Connecting terminals
Assignment
–UZ
DC-link voltage –
+UZ
DC-link voltage +
Dimensions for UV 105 B
M5 M4 5.5 50
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HEIDENHAIN Technical Manual iTNC 530
3.5.3 UV 106 B Power Supply Unit General information UV 106 B power supply unit for analog HEIDENHAIN contouring controls The UV 106 B power supply unit was designed so that the iTNC 530 could be used with a compact, coordinated system for analog nominal shaft-speed interfaces (+/– 10 V). It supplies the iTNC 530 with the supply voltages necessary for operation. The UV 106 B (Id. Nr. 546 581-01) is being introduced as a replacement for the UV 106 (Id. Nr. 366 572-11).
Id. Nr. 546 581-01 UV 106 B UV 106 B Specifications Specifications
UV 106 B 400 Vac ± 10 %a 50 Hz
Power supply (at X31) Protection
6.3 A (gR) Siemens Sitor type or 6.3 A (gRL) Siba type
Load capacity (5 V)
20 A
Power consumption
Max. 400 W
Degree of protection
IP 20
Module width Weight
159 mm 4 kg
ID number
546 581-xx
a. An isolating transformer is not necessary when the UV 106B is connected.
September 2006
Power Supply for the iTNC 530
3 – 29
Connection overview
U V
X31
U/V
400-V supply voltage
X31
READY UV
Green LED
Operational status indicator
Equipment ground (YL/GN)
Warning Do not engage or disengage any connecting elements while the unit is under power!
3 – 30
HEIDENHAIN Technical Manual iTNC 530
X31: Supply voltage for UV 106 B
Supply voltage: 400 V ± 10 % Connection: Connecting terminal
Assignment
U
Phase 1 / 400 Vac ±10 % / 50 Hz to 60 Hz
V
Phase 2 / 400 Vac ±10 % / 50 Hz to 60 Hz Protective ground (YL/GN), ≥ 10 mm2 Connecting leads Wire cross section: 1.5 mm2 (AWG 16)
Tightening torque: for the connecting terminals 0.7 Nm (6.5 - 7 lbs/in) Grounding terminal: ≥ 10 mm2 (AWG 6) Strain relief: Ensure that the connecting cables are not subject to excessive strain
September 2006
Power Supply for the iTNC 530
3 – 31
Power connection UV 106B
MC 4xx *)
L1 L2 X31
PE
400V ±10% 50HZ
PE
Fuse Typ: Siemens Sitor 6,3A gR
L1 L2 L3 N PE *) Connections to MC4xx: See Technical Manual
Dimensions for UV 106 B
M5
24.5+0.2 158.25+0.75
3 – 32
HEIDENHAIN Technical Manual iTNC 530
3.6 Power Supply for PLC Outputs The PLC of the iTNC 530 as well as the PL 410B/PL 405B/PL 510 are powered by the 24 Vdc control voltage of the machine (in accordance with VDE 0551). The control voltage must be smoothed with a minimum 1000 µF at a rated current capacity of 150 µF/A. At a current load of 15 A, for example, this corresponds to a capacity of 2250 µF. EN 61 131-2:1994 permits: 5% alternating voltage component is permissible Minimum absolute value: 20.4 Vdc Maximum absolute value: 28.8 Vdc Danger Use only original replacement fuses. Power consumption
Nominal operating current per output
September 2006
If half of the outputs are switched at the same time, the following are the values for power consumption: MC 422(B): PL 410B: PL 405B: PL 510:
48 W Approx. 460 W Approx. 235 W Approx. 485 W
MC 422(B): PL 410B: PL 405B: PLD 16-8:
0.150 A 2 A (with max. current consumption of 20 A) 2 A (with max. current consumption of 20 A) 2A Simultaneity 2 outputs with 2 A each 4 outputs with 1 A each 8 outputs with 0.5 A each Total current: Out0 to Out7: ≤ 4 A Out0 to Out3: ≤ 2 A Out4 to Out7: ≤ 2 A
Power Supply for PLC Outputs
3 – 33
X44: PLC supply voltage
Pin layout on the MC 422(B): Connection terminal
Assignment
PLC outputs
1
+24 V can not be switched O24 to O30 off via EMERGENCY STOP control-is-ready signal
2 3
+24 V can be switched off via EMERGENCY STOP
4
0V
O16 to O23 O0 to O15
Note If the +24-V power supply (which cannot be shut off via emergency stop) is missing at X44, the error message Supply voltage missing at X44 appears.
3 – 34
HEIDENHAIN Technical Manual iTNC 530
3.6.1 Power Supply for PL 4xxB Connection overview
X9 to X14: Supply voltage
Pin layout on the PL 410 B: Terminal
Assignment
PL 1
PL 2
PL 3
PL 4
X9
0V
X10
+24 Vdc logic power supply and for control-is-ready signala
X11
+24 Vdc power supply for outputsa
O32 – O39
O64 – O71
O128 – O135
O160 – O167
X12
+24 Vdc power supply for outputsa
O40 – O47
O72 – O79
O136 – O143
O168 – O175
X13
+24 Vdc power supply for outputsa
O48 – O55
O80 – O87
O144 – O151
O176 – O183
X14
+24 Vdc power supply for outputsa
O56 – O62
O88 – O94
O152 – O158
O184 – O190
a. 20.4 V to 28.8 V
September 2006
Power Supply for PLC Outputs
3 – 35
Pin layout on the PL 405 B: Terminal
Assignment
X9
0V
PL 1
PL 2
PL 3
PL 4
X10
+24 Vdc logic power supply and for control-is-ready signala
X13
+24 Vdc power supply for outputsa
O48 – O55
O80 – O87
O144 – O151
O176 – O183
X14
+24 Vdc power supply for outputsa
O56 – O62
O88 – O94
O152 – O158
O184 – O190
a. 20.4 V to 28.8 V X23: Power supply for the analog inputs on the PL 410B
The PL 410 B input/output unit is also available with additional analog inputs and inputs for PT 100 thermistors.
Danger The power supply must correspond to a safety extra-low voltage (SELV) as per EN 61800-5-1. Terminal
Assignment
1
+24 Vdc (safety extra-low voltage as per EN 61800-5-1)
2
+0 V
3.6.2 Power Supply for PL 510 Note The iTNC 530 cyclically monitors the supply voltage of the PL 510. PLB 510 basic module
PLD 16-8 input/ output module
3 – 36
Pin layout for X3 (power supply for logic circuit): Terminal
Assignment
1
+24 Vdc (20.4 V to 28.8 V)
2
+0 V
Pin layout at X6 (power supply for PLC outputs): Terminal
Assignment
9
+24 Vdc (20.4 V to 28.8 V) for group 1
10
+24 Vdc (20.4 V to 28.8 V) for group 2
HEIDENHAIN Technical Manual iTNC 530
3.7 Power Supply for Control-Is-Ready Signal X34: Power supply for control-is-ready signal
The control-is-ready signal output is powered by 24 Vdc provided by the UE 2xx B inverter or the UV1xx power supply unit. The voltage is connected with terminal X34. Pin layout: Connecting terminal X34
Assignment
Connection when using a HEIDENHAIN inverter
1
+24 V
X72/1
2
0V
X72/2
3.8 Power Supply for the Display Units Connecting terminal X1
Assignment
1
+24 V
2
0V
Power consumption: BF 120: 15 W BF 150: 45 W Danger The power supply must have basic insulation as per EN 61800-5-1.
September 2006
Power Supply for Control-Is-Ready Signal
3 – 37
3.9 Buffer Battery Note Make a data backup before changing the buffer battery. Danger When exchanging the buffer battery, remember: Switch off the machine and the iTNC 530. The buffer battery may be exchanged only by trained personnel. Battery type: 1 lithium battery, type CR 2450N (Renata), Id. Nr. 315 878-01 The lifetime of the buffer battery is between 2 and 5 years. If the voltage of the buffer battery falls below 2.6 V the error message Exchange buffer battery appears. If the voltage does not exceed 2.6 V, the error message is reactivated after 30 minutes. Notes on exchanging the buffer battery: 8
The buffer battery is located on the rear side of the MC 422(B).
8
Exchange the battery; the new battery can be inserted in only one position.
Buffer battery
3 – 38
HEIDENHAIN Technical Manual iTNC 530
The following information is stored in the battery-buffered memory: Remanent PLC operands Most recent log entries Information about the trace function Information about program interruption Information from absolute encoders with EnDat interface Information about the boot process Information about errors
September 2006
Buffer Battery
3 – 39
3.10 Drive Controller Enable A drive controller can be enabled by the NC software only if the controller is enabled with 24 V on X150/X151 and on X42, pin 33. X150, X151: Drive controller enabling for axis groups
The connecting terminals X150 and X151 are located on the bottom of the CC 42x. X150 controls drive enabling for the axis groups on the first controller board (PWM outputs X51 to X56). X151 controls drive enabling for the axis groups on the second controller board (PWM outputs X57 to X60 or X62). Note The pin of an axis group must always be wired to the connector on whose PCB the control loop is located. If an axis group contains control loops located on both PCBs, then the pins of both connectors must be wired. Pin layout: Terminal Assignment of X150 X150/X151
Assignment of X151
1
+24 Va drive controller enabling for axis group 1
+24 Va; drive controller enabling for axis group 1
2
+24 Va; drive controller enabling for axis group 2
+24 Va; drive controller enabling for axis group 2
3
+24 Va; drive controller enabling for axis group 3
+24 Va; drive controller enabling for axis group 3
4
Only CC 424: +24 Va; drive controller enabling for axis group 4
Only CC 424: +24 Va; drive controller enabling for axis group 4
5
Only CC 424: +24 Va; drive controller enabling for axis group 5
Only CC 424: +24 Va; drive controller enabling for axis group 5
6
Only CC 424: +24 Va; drive controller enabling for axis group 6
Only CC 424: +24 Va; drive controller enabling for axis group 6
7
Reserved, do not assign
Reserved, do not assign
8
Reserved, do not assign
Reserved, do not assign
9
0V
0V
a. maximum current consumption 10 mA
3 – 40
HEIDENHAIN Technical Manual iTNC 530
X42/33: Global drive controller enable
Pin layout: D-sub connctn. (male) 37-pin Assignment ..
September 2006
..
33
+24 V (drive controller enable)
..
..
Drive Controller Enable
3 – 41
3.11 Encoder Connections 3.11.1 General Information HEIDENHAIN contouring controls are designed for use with incremental or absolute linear and angular encoders as measuring systems. The encoder signals are interpolated 1024-fold. Encoders with one reference mark or distance-coded reference marks and with EnDat interface are permissible. HEIDENHAIN recommends the use of absolute encoders with EnDat interface or the use of encoders with distance-coded reference marks because they greatly reduce the traverse distance required to establish the absolute position. Please use only HEIDENHAIN encoder cables, connectors and couplings. For maximum cable lengths, see “Cable Overview” at the end of this chapter. Position encoder
Speed encoder
Signal amplitude
EnDat, 1 VPP
EnDat, 1 VPP
Input frequency 1 VPP
MC 42x (B): CC 422: 350 kHz 27 kHz/400 kHz (can be CC 424: 400 kHz set via MP115.x) CC 424: 27 kHz/400 kHz (can be set via MP116.x)
11 µAPP encoders can be connected through the adapter plug with the Id. Nr. 317 505-05. Note Keep in mind the line count of the speed encoders when choosing the motors: f ⋅ 60 ⋅ 1000 x = ------------------------------n x: line count of the speed encoder f: maximum input frequency n: maximum speed Example: f = 350 kHz; n = 10 000 rpm 350 ⋅ 60 ⋅ 1000 x = --------------------------------------- ≈ 2048 10000
3 – 42
HEIDENHAIN Technical Manual iTNC 530
3.11.2 Input for Position Encoder X1 to X6, X35 to X38, X201 to X214: Position encoder 1 VPP
Pin layout:
MC 42x(B), CC 424
Adapter cable 309 783-xx Adapter cable 310 199-xx
Encoder
Male
Assignment
Female
Color
Female
Male
Color
1
+5 V (UP)
1
BN/GN
12
12
BN/GN
2
0 V (UN)
2
WH/GN
10
10
WH/GN
3
A+
3
BN
5
5
BN
4
A–
4
GN
6
6
GN
5
Do not assign
5
6
B+
6
GY
8
8
GY
7
B–
7
PK
1
1
PK
8
Do not assign
8
9
+5 V (sensor)
9
BL
2
2
BL
10
R+
10
RD
3
3
RD
11
0 V (sensor)
11
WH
11
11
WH
BK
4
4
BK
VI
7
7
VI
Hsg.
External shield
12
R–
12
13
0V
13
14
Do not assign
14
15
Do not assign
15
Hsg.
External shield
Hsg.
External shield Hsg.
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).”
September 2006
Encoder Connections
3 – 43
Pin layout:
MC 42x(B), CC 424
Adapter cable 332 115-xx
Male Assign.
Female Color
Conn. cable 323 897-xx
Female Male Color
BN/GN 1
+5 V (UP) 1 0 V (UN)
2
7
A+
3
4
A–
4
5
Data
5
10
10
15
15
16
16
B+
6
14
14
12
B–
7
8
Data
8
9
+5 V (sensor)
9
10
Free
10
11
0V (sensor)
11
12
Free
12
13
Internal shield
13
14
Clock
15 Hsg.
10
6a GN/BK
15
15
16
16
2a YL/BK
14
12
5b WH/GN
10
GY
Fem.
BN/GN
BL/BK
RD/BK 7
7
YL/BK
BL/BK 6
7
GN/BK
YL/BK
GY
Male Color
WH/GN
GN/BK 3
Fem.
BN/GN 7
WH/GN 2
Adapter cable 313 791-xx
12 RD/BK
14
2b GY
3b
BL/BK 12
1a RD/BK
13
13
PK
17
17
PK
17
BL
1
1
BL
1
3
3
RD
3
4
4
WH
4
2
2
BK
2
Internal shield
11
11
Internal shield 11
11
Internal shield
14
VI
8
8
VI
8
8
VI
4a
Clock
15
YL
9
9
YL
9
9
YL
4b
Housing
Hsg.
External shield Hsg.
Hsg.
External shield
WH
13
Line drop compensator 336 697-02, if required
X1 to X6, X35 to X38, X201 to X214: Position encoder with EnDat interface
Externa l shield
13
1b
17
PK
3a
1
BL
5a
WH
6b
3 4 2
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).”
3 – 44
HEIDENHAIN Technical Manual iTNC 530
3.11.3 Input of Speed Encoder Warning If you connect angle or linear encoders from HEIDENHAIN to the speed encoders (such as for torque motors), you must pay attention to the different connector layouts! HEIDENHAIN offers special cables and line-drop compensators for such applications. More information is in the Cable Overviews. X15 to X20, X80 to X87: Speed encoder 1 VPP
Pin layout:
CC 42x
Adapter cable 289 440-xx
Conn. cable 336 847-xx
Male Assignment
Female Color
Female
Male Color
Female
1
+5 V (UP)
1
BN/GN
10
10
BN/GN
10
2
0 V (UN)
2
WH/GN
7
7
WH/GN
7
3
A+
3
GN/BK
1
1
GN/BK
1
4
A–
4
YL/BK
2
2
YL/BK
2
5
0V B+
6
BL/BK
11
11
BL/BK
11
7
B–
7
RD/BK
12
12
RD/BK
12
8
0V
8
Internal shield
17
17
Internal shield 17
9
Do not assign
10
Do not assign
11
Do not assign
8
YL
8
16
BL
16
12
Do not assign
13
Temperature +
13
YL
8
14
+5 V (sensor)
14
BL
16
15
Do not assign
16
0 V (sensor)
16
WH
15
17
R+
17
RD
3
Line drop compensator 370 226-01, if required
6
15
WH
15
3
RD
3
13
BK
13
5
GN
5
18
R–
18
BK
13
19
C+
19
GN
5
20
C–
20
BN
6
6
BN
6
21
D+
21
GY
14
14
GY
14
22
D–
22
PK
4
4
PK
4
23
Do not assign 9
9
VI
9
24
0V
25
Temperature –
25
VI
Hsg.
Housing
Hsg.
External shield Hsg.
Hsg. Ext. shield
Hsg.
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).”
September 2006
Encoder Connections
3 – 45
X15 to X20, X80 to X85: Speed encoder with EnDat interface
Pin layout:
CC 42x
Adapter cable 336 376-xx
Conn. cable 340 302-xx
Female Color
Female
Male Color
Female
+5 V (UP)
1
10
10
10
2
0 V (UN)
2
WH/GN
7
7
WH/GN
7
3
A+
3
GN/BK
1
1
GN/BK
1
4
A–
4
YL/BK
2
2
YL/BK
2
5
0V
6
B+
6
BL/BK
11
11
BL/BK
11
7
B–
7
RD/BK
12
12
RD/BK
12
8
0V
8
Internal shield
17
17
Internal shield
17
9
Do not assign 10
GN
5
5
GN
5
14
BN
14
8
YL
8
16
BL
16
3
RD
3
15
WH
15
10
Clock
11
Do not assign
BN/GN
Line drop compensator 370 224-01, if required
Male Assignment 1
BN/GN
12
Clock
12
BN
14
13
Temperature +
13
YL
8
14
+5 V (sensor)
14
BL
16
15
Data
15
RD
3
16
0 V (sensor)
16
WH
15
17
Do not assign
18
Do not assign
19
Do not assign
20
Do not assign
21
Do not assign
22
Do not assign
23
Data
23
BK
13
13
BK
13
24
0V
25
Temperature –
25
VI
9
9
VI
9
Hsg.
Housing
Hsg.
External shield Hsg.
Hsg.
External shield
Hsg.
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).” Danger Only units that comply with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV)” may be connected.
3 – 46
HEIDENHAIN Technical Manual iTNC 530
Pin layout (for the LC or RCN):
CC 42x
Adapter cable 336 376-xx
Male Assignment
Female
Color
Adapter cable 369 124-xx Adapter cable 369 129-xx Female
Male
Color
+5 V (UP)
1
BN/GN
10
7
BN/GN
2
0 V (UN)
2
WH/GN
7
10
WH/GN
3
A+
3
GN/BK
1
15
GN/BK
4
A–
4
YL/BK
2
16
YL/BK
5
0V
6
B+
6
BL/BK
11
12
BL/BK
7
B–
7
RD/BK
12
13
RD/BK
8
0V
8
Internal shield
17
11
Internal shield
9
Do not assign
10
Clock
10
GN
5
8
VI
11
Do not assign
12
Clock
12
BN
14
9
YL
13
Temperature + 13
YL
8
14
+5 V (sensor)
BL
16
1
BL
15
Data
15
RD
3
14
GY
16
0 V (sensor)
16
WH
15
4
WH
17
Do not assign
18
Do not assign
19
Do not assign
20
Do not assign
21
Do not assign
22
Do not assign
23
Data
23
BK
13
17
PK
24
0V
25
Temperature –
25
VI
9
Hsg.
Housing
Hsg.
External shield Hsg.
Hsg.
External shield
14
Line drop compensator 368 210-02
1
1 2 temperature+ 3 temperature+ 4 Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).”
September 2006
Encoder Connections
3 – 47
Pin layout (for the LC or RCN):
CC 42x
Adapter cable 509 667-xx
Adapter cable 369 124-xx Adapter cable 369 129-xx or RCN
Male Assignment
Female Color
Female Male Color
1
+5 V (UP)
1
BN/GN
7
7
BN/GN
2
0 V (UN)
2
WH/GN
10
10
WH/GN
3
A+
3
GN/BK
15
15
GN/BK
4
A–
4
YL/BK
16
16
YL/BK
5
0V
6
B+
6
BL/BK
12
12
BL/BK
7
B–
7
RD/BK
13
13
RD/BK
8
0V
8
Internal shield
11
11
Internal shield
9
Do not assign
10
Clock
10
GN
8
8
VI
11
Do not assign
12
Clock
12
BN
9
9
YL
1
BL
13
Temperature +
13
YL
5
14
+5 V (sensor)
14
BL
1
15
Data
15
RD
14
14
GY
16
0 V (sensor)
16
WH
4
4
WH
17
Do not assign
18
Do not assign
19
Do not assign
20
Do not assign
21
Do not assign
22
Do not assign
23
Data
23
BK
17
17
PK
24
0V
25
Temperature –
25
VI
6
Hsg.
External shield
Hsg.
Hsg.
External shield
Hsg. Housing
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).”
3 – 48
HEIDENHAIN Technical Manual iTNC 530
3.12 Adapters for Encoder Signals Encoder signals with 11 µAPP or TTL levels can be adapted to the 1 VPP interface with HEIDENHAIN adapter connectors.
1V
4 ... 9 VPP Id.-Nr. 317 505-01
MCLE 42x(B)
4 ... 9 VPP
1V Id.-Nr. 317 505-02
SIEMENS
0
MC LE 42x(B)
11µA
Id.-Nr. 313 119-01
U0
1V
MC LE 42x(B)
Note Please note: The adapters adjust only the levels, not the signal shape. The contamination signal of the square-wave encoder cannot be evaluated. A square-wave signal can be subdivided no more than 4-fold.
September 2006
Adapters for Encoder Signals
3 – 49
Adapter connector TTL (HEIDENHAIN)/ 1 VPP
Adapter connector TTL (SIEMENS)/ 1 VPP
3 – 50
Pin layout of D-sub connector (female) and D-sub connector (male): D-sub connector Assignment (female) 15-pin
D-sub connection (male) 15-pin
Assignment
1
+5 V (UP)
1
+5 V (UP)
2
0 V (UN)
2
0 V (UN)
3
A+
3
Ua1
4
A–
4
–Ua1
5
0V
5
0V
6
B+
6
Ua2
7
B–
7
–Ua2
8
0V
8
0V
9
+5 V
9
+5 V
10
R+
10
Ua0
11
0V
11
0V
12
R–
12
–Ua0
13
0V
13
0V
14
–UaS
14
–UaS
15
Not assigned
15
Not assigned
Pin layout of D-sub connector (female) and D-sub connector (male): D-sub connector Assignment (female) 15-pin
D-sub connection (male) 15-pin
Assignment
1
Not assigned
1
Not assigned
2
0V
2
0V
3
A+
3
Ua1
4
A–
4
–Ua1
5
Not assigned
5
Not assigned
6
B+
6
Ua2
7
B–
7
–Ua2
8
Not assigned
8
Not assigned
9
Not assigned
9
Not assigned
10
R+
10
Not assigned
11
Not assigned
11
Not assigned
12
R–
12
Ua0
13
Not assigned
13
–Ua0
14
Not assigned
14
Not assigned
15
Not assigned
15
Not assigned
HEIDENHAIN Technical Manual iTNC 530
Adapter connector 11 µAPP / 1 VPP
September 2006
Pin layout of D-sub connector (female) and D-sub connector (male): D-sub connector Assignment (female) 15-pin
D-sub connection Assignment (male) 15-pin
1
+5 V (UP)
1
2
0 V (UN)
2
0 V (UN)
3
A+
3
0°+
4
A–
4
0°–
5
0V
5
0V
6
B+
6
90°+
7
B–
7
90°–
8
0V
8
0V
9
+5 V
9
+5 V
10
R+
10
R+
11
0V
11
0V
12
R–
12
R–
13
0V
13
0V
14
Not assigned
14
Not assigned
15
Not assigned
15
Not assigned
Adapters for Encoder Signals
+5 V (UP)
3 – 51
✎
3 – 52
HEIDENHAIN Technical Manual iTNC 530
3.13 Motor Power Stage Connection The iTNC 530 is connected with HEIDENHAIN or non-HEIDENHAIN inverters through a PWM interface. For a description of the HEIDENHAIN inverter systems, refer to the Technical Manual “Inverter Systems and Motors.” The components required for operation of the iTNC 530 with non-HEIDENHAIN inverter systems are described in the manual “Technical Information for the Operation of SIMODRIVE and POWER DRIVE Inverter Systems.” The individual PWM outputs of the CC 422 are assigned to different controller groups (see “Maximum spindle speed” on page 6 – 15 and “PWM Frequencies of the CC 422” on page 326). The following applies to the output signals to the power stage: Logic level: Analog signals IACTL: PWM frequency:
X51 to X64: PWM output
5V ±7.5 V MP2180.x can be used to set it at 3333 Hz, 4166 Hz, 5000 Hz, 6666 Hz, 8166 Hz and 10000 Hz
Pin layout: Ribbon connector, 20-pin
Assignment
1a
PWM U1
1b
0 V U1
2a
PWM U2
2b
0 V U2
3a
PWM U3
3b
0 V U3
4a
SH2
4b
0 V (SH2)
5a
SH1
5b
0 V (SH1)
6a
+IIST 1
6b
–IIST 1
7a
0 V (analog)
7b
+IIST 2
8a
–IIST 2
8b
0 V (analog)
9a
BRK
9b
Do not assign
10a
ERR
10b
RDY
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).”
September 2006
Motor Power Stage Connection
3 – 53
3.14 Analog Input The MC 42x(B), the PL 410B PLC I/O unit, and the PLA 4-4 (for PL 510) have analog inputs and inputs for Pt 100 thermistors. The PL 410 B is available with and without analog inputs. Analog inputs (±10 V)
Analog inputs
Inputs for Pt 100 thermistors
MC 42x(B), X48
3
3
PL 405 B
–
–
PL 410 B (263 371-02)
4
4
PLA 4-4 (PLB 510)
4
4
Voltage range: Input resistance: Resolution (W480, W482, W484): Resolution (Module 9003, 9138):
Internal value range:
–10 V to +10 V > 250 kΩ 100 mV 10 mV (MC 42x(B)) 100 mV (PL 410B) 4.9 mV (PLA 4-4) –100 to +100, approx. resolution 100 mV –1000 to +1000, approx. resolution 10 mV –2040 to +2040, approx. resolution 4.9
mV Inputs for Pt 100 thermistors
Constant current: Temperature range: Resolution (W486, W488, W490): Resolution (Module 9003, 9138):
Internal value range:
3 – 54
5 mA 0 °C to 100 °C 0.5 °C 0.1 °C (MC 42x(B)) 0.5 °C (PL 410B) 0.03 °C (PLA 4-4) 0 to 200, at a resolution of 0.5 °C 0 to 1000, at a resolution of 0.1 °C 0 to 3333, at a resolution of 0.03 °C
HEIDENHAIN Technical Manual iTNC 530
X48: Analog input (PLC) on the MC 42x(B)
Pin layout:
Warning Remember to connect the analog inputs with the correct polarity! D-sub connection (female) 25-pin
Assignment
1
I1+ Constant current for Pt 100
2
I1– Constant current for Pt 100
3
U1+ Measuring input for Pt 100
4
U1– Measuring input for Pt 100
5
I2+ Constant current for Pt 100
6
I2– Constant current for Pt 100
7
U2+ Measuring input for Pt 100
8
U2– Measuring input for Pt 100
9
I3+ Constant current for Pt 100
10
I3– Constant current for Pt 100
11
U3+ Measuring input for Pt 100
12
U3– Measuring input for Pt 100
13
Do not assign
14
Analog input 1: –10 V to +10 V
15
Analog input 1: 0 V (reference potential)
16
Analog input 2: –10 V to +10 V
17
Analog input 2: 0 V (reference potential)
18
Analog input 3: –10 V to +10 V
19
Analog input 3: 0 V (reference potential)
20 to 25
Do not assign
Housing
External shield
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).”
September 2006
Analog Input
3 – 55
Connection overview for the PL 410B
X15 to X18: Analog input on the PL 410 B
Pin layout Connecting terminals Assignment 1
–10 V to +10 V
2
0 V (reference potential)
3
Shield Note The interfaces comply with the requirements of EN 61800-5-1 for “protective extra-low voltage (PELV).”
X19 to X22: Connection for Pt 100 on the PL 410B
Pin layout: Connecting terminals
Assignment
1
I+ Constant current for Pt 100
2
U+ Measuring input for Pt 100
3
U – Measuring input for Pt 100
4
I – Constant current for Pt 100
5
Shield Note The interfaces comply with the requirements of EN 61800-5-1 for “protective extra-low voltage (PELV).”
3 – 56
HEIDENHAIN Technical Manual iTNC 530
X15 to X18: Analog input on the PLA 4-4 analog module
Pin layout Connecting terminals Assignment 1
–10 V to +10 V
2
0 V (reference potential)
3
Shield Note The interfaces comply with the requirements of EN 61800-5-1 for “protective extra-low voltage (PELV).”
X19 to X22: Connection for Pt 100 on the PLA 4-4 analog module
Pin layout: Connecting terminals
Assignment
1
I+ Constant current for Pt 100
2
U+ Measuring input for Pt 100
3
U – Measuring input for Pt 100
4
I – Constant current for Pt 100
5
Shield Note The interfaces comply with the requirements of EN 61800-5-1 for “protective extra-low voltage (PELV).”
Connection of analog voltage
Characteristics of the connecting cable:
Connection of the Pt 100 thermistors
8
Shielding 2 conductors with 0.14 mm² Maximum length 50 meters Configure the thermistor connection as a “four-conductor circuit”:
I
1
Measuring input Measuring input I
2 3 4 5
Pt100
September 2006
Customer's cable 4 x 0.14 mm2 screened, max 30 m
Analog Input
3 – 57
3.15 Analog Nominal Value Output Output: Maximum load of outputs: Maximum capacity:
±10 V 2 mA 2 nF
13 analog outputs are available: Connection X8: Analog outputs 1 to 6 Connection X9: Analog outputs 7 to 13 PLC analog output
The PLC analog outputs can be controlled through Module 9130.
3.15.1 Nominal Value Output Please note: For analog axes and analog spindle, use MP120.x and MP121.x to assign the corresponding analog outputs on terminal X8 or X9 to the nominal speed outputs. The connecting cables to the nominal value outputs must not have more than one intermediate terminal. If you must branch to physically separate servo inputs, the connection must be made in a grounded terminal box, e.g. Id. Nr. 251 249-01 from HEIDENHAIN. The housing of the terminal box must be electrically connected with the frame of the machine. The 0-V connections of the nominal-value-difference inputs must be connected with the signal ground. Cross section ≥ 6 mm2 Use only original HEIDENHAIN cables and connecting elements.
3 – 58
HEIDENHAIN Technical Manual iTNC 530
The following wiring plan is suggested for shielding the terminal box:
MCLE42x(B)
Insulated from housing
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
X
Y
Z
IV
V
S
Lines are provided with end sleeves for strands
Cable shielding is led to insulated wire of 0.14 mm² by means of crimping rings.
Example for pin assignment in the terminal box: Connecting terminals
Axis/Spindle
1
Nominal value in X axis ±10 V
2 3
0V Nominal value in Y axis ±10 V
4 5
0V Nominal value in Z axis
6 7
Nominal value in axis 4 Nominal value in axis 5
September 2006
±10 V 0V
Spindle nominal value
12 13 to 16
±10 V 0V
10 11
±10 V 0V
8 9
Assignment
±10 V 0V
Shield connection
Analog Nominal Value Output
3 – 59
X8: Analog output 1 to 6
For connecting cables, see “Cable Overview” at the end of this chapter. Pin layout on the MC 42x(B) and connecting cables: MC 42x(B)
Connecting cable
D-sub connctn. (female) 15-pin
Assignment
D-sub connctr. (male) 15-pin
Color
1
Analog output 1: ±10 V
1
BN
2
Do not assign
2
BN/GN
3
Analog output 2: ±10 V
3
YL
4
Analog output 5: ±10 V
4
RD/BL
5
Analog output 3: ±10 V
5
PK
6
Analog output 5: 0 V
6
GY/PK
7
Analog output 4: ±10 V
7
RD
8
Analog output 6: ±10 V
8
VI
9
Analog output 1: 0 V
9
WH
10
Do not assign
10
WH/GY
11
Analog output 2: 0 V
11
GN
12
Do not assign
12
13
Analog output 3: 0 V
13
GY
14
Analog output 4: 0 V
14
BL
15
Analog output 6: 0 V
15
BK
Housing
External shield
Housing
External shield
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).” Danger Only units that comply with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV)” may be connected.
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HEIDENHAIN Technical Manual iTNC 530
X9: Analog outputs 7 to 13
For connecting cables, see “Cable Overview” at the end of this chapter. Pin layout on the MC 422(B) and connecting cables: MC 42x(B)
Connecting cable
D-sub connctn. (female) 15-pin
Assignment
1
Analog output 7: ±10 V a:
D-sub connctr. (male) 15-pin
Color
1
BN
2
Analog output 13
2
BN/GN
3
Analog output 8: ±10 V
3
YL
4
Analog output 11: ±10 V
4
RD/BL
5
Analog output 9: ±10 V
5
PK
6
Analog output 11: 0 V
6
GY/PK
7
Analog output 10: ±10 V
7
RD
8
Analog output 12: ±10 V
8
VI
9
Analog output 7: 0 V
9
WH
13a:
±10 V
10
Analog output
11
Analog output 8: 0 V
12
Do not assign
12
13
Analog output 9: 0 V
13
GY
14
Analog output 10: 0 V
14
BL
15
Analog output 12: 0 V
15
BK
Housing
External shield
Housing
External shield
0V
10
WH/GY
11
GN
a. Only for MC 422B, but not for MC 422 Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).” Danger Only units that comply with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV)” may be connected.
September 2006
Analog Nominal Value Output
3 – 61
✎
3 – 62
HEIDENHAIN Technical Manual iTNC 530
3.16 Touch Probe Systems The following touch probes can be connected to the iTNC 530: TS 220, a touch-trigger probe with cable connection for workpiece setup and measurement during machining TS 440, TS 640, touch-trigger probes with infrared transmission for workpiece setup and measurement during machining TT 130, a touch probe for workpiece measurement For suitable connecting cables, see “Cable Overview” at end of chapter. 3.16.1 Triggering Touch Probe for Workpiece Measurement X12: Touch probe connection Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).” Pin layout for TS 220: MC 42x(B) Female
Adapter cable 274 543-xx Assignment
Male
1
0 V (internal shield)
1
2
Do not assign
2
3
Ready
3
4
Start
4
TS 220
Color
Pin
Pin
PK
4
4
Color
5
+15 V ± 10% (UP), max. 100 mA
5
GY
3
3
6
+5 V ± 5% (UP), max. 100 mA
6
BN/GN
2
2
BN
7
Battery warning
7
GY
8
0 V (UN)
8
WH/GN
1
1
WH
9
Trigger signal
9
GN
5
5
GN
10
Trigger signala
10
YL
6
6
YL
11 to 15
Do not assign
11 to 15
Hsg.
External shield
Hsg.
External shield Hsg.
a. Stylus at rest means logic level HIGH.
September 2006
Touch Probe Systems
3 – 63
Pin layout for TS 440, TS 640 with SE 640: MC 42x(B)
Adapter cable 310 197-xx
Female
Assignment
Male Color
Female Male Color
SE 640
1
0 V (internal shield)
1
WH/BN
7
2
Do not assign
3
Ready
3
GY
5
5
4
Start
4
YL
3
3
5
+15 V ± 10% (UP), max. 100 mA 5
BN
2
2
BN
6
+5 V ± 5% (UP), max. 100 mA
TS 440, TS 640
GY
7
Battery warning
7
BL
6
6
BL
8
0 V (UN)
8
WH
1
1
WH
9
Trigger signal
10
Trigger signala
10
GN
4
4
GN
Hsg.
External shield
Hsg.
Hsg.
11 to 15 Do not assign Hsg.
External shield
a. Stylus at rest means logic level HIGH. Pin layout for TS 440, TS 640 with SE 540: MC 42x(B)
Adapter cable 310 197-xx Male Color
Female
Assignment
1
0 V (internal shield) 1
2
Do not assign
3
Ready
4
Start
Adapter cable 517 375-xx
Female Male
Color
Female
WH/BN
7
7
Internal shield
7
3
GY
5
5
GY
5
4
YL
3
3
YL
3
5
+15 V ± 10% (UP), 5 max. 100 mA
BN
2
2
BN
2
6
+5 V ± 5% (UP), max. 100 mA
7
Battery warning
7
BL
6
6
BL
6
8
0 V (UN)
8
WH
1
1
WH
1
9
Trigger signal
10
Trigger signala
10
GN
4
4
GN
4
Hsg.
External shield
Hsg.
Hsg.
External shield
Hsg.
SE 540 TS 440, TS 640
11 to 15 Do not assign Hsg.
External shield
a. Stylus at rest means logic level HIGH.
3 – 64
HEIDENHAIN Technical Manual iTNC 530
3.16.2 Triggering Touch Probe for Tool Measurement X13: Connection of the touch probe
Pin layout on the MC 422(B):
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).” Pin layout on adapter cable and touch probe: MC 42x(B)
Adapter cable 335 332-xx
TT 130 296 537-xx
Female
Assignment
Male
Color
Female
Male Color
1
Ready
1
PK
6
6
2
0 V (UN)
2
WH/GN
1
1
WH
3
Do not assign
3
4
+15 V ±5% (UP )
4
BN/GN
2
2
BN
5
Do not assign
5
5
5
6
Do not assign
6
7
+5 V ±5% (UP )
7
8
Trigger signal
8
BN
3
3
GN YL
a
9
Trigger signal
9
GN
4
4
–
–
–
–
7
7
Hsg.
External shield
Hsg.
External shield
Hsg.
Hsg.
a. Stylus at rest means logic level HIGH.
September 2006
Touch Probe Systems
3 – 65
✎
3 – 66
HEIDENHAIN Technical Manual iTNC 530
3.17 Data Interfaces Please note: Maximum cable length with Ethernet 400 m (shielded), 100 m (unshielded) Maximum cable length with RS-232-C/V.24 is 20 meters. Maximum cable length with RS-422/V11 is 1000 meters. For connecting cables, see “Cable Overview” at the end of this chapter. General information
Keep the following information in mind when connecting external peripheral devices to the data interfaces of the control: Wiring: The correct routing of the data cable is very important. The cable should not be located in the vicinity of power cables, except if appropriate protective measures are taken. Software: The use of non-HEIDENHAIN software may cause problems. The software supplier is responsible for the correct configuration of the control's data interfaces. Switch box: In many cases, a switch box is used to connect several control interfaces to a PC. The difference in potential of the machines may lead to fault currents causing damage to the interfaces. If you intend to install such a switch box, you should connect the interface of the control via a unit with electrical isolation to the switch box.
September 2006
Data Interfaces
3 – 67
X26: Ethernet interface RJ45 connection
Maximum data transfer rate: Approx. 2 to 5 Mbps (depending on file type and network utilization) Maximum cable length, shielded: 100 m RJ45 connection (female) 8-pin
Assignment
1
TX+
2
TX–
3
REC+
4
Do not assign
5
Do not assign
6
REC–
7
Do not assign
8
Do not assign
Housing
External shield
Face of the connector:
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).” Meanings of the LEDs on the Ethernet data interface X26:
3 – 68
LED
Status
Meaning
GN
Blinks
Interface active
Off
Interface inactive
YL
On
100-Mb network
Off
10-Mb network
HEIDENHAIN Technical Manual iTNC 530
X27, X127: RS-232-C/V.24 data interface
Pin layout:
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).” 25-pin adapter block: MC 42x(B)
Conn. cable 365 725-xx
Adapter block Conn. cable 274 545-xx 310 085-01
Male
Female
Male Female Male
Assignment
Color
Female
Color
Female
1
Do not assign
1
1
1
1
1
WH/BN 1
2
RXD
2
YL
3
3
3
3
YL
3
TXD
3
GN
2
2
2
2
GN
3
4
DTR
4
BN
20
20
20
20
BN
6
5
Signal GND
5
RD
7
7
7
7
RD
7
6
DSR
6
BL
6
6
6
6
VI
20
2
8
8 7
RTS
7
GY
4
4
4
4
GY
5
8
CTS
8
PK
5
5
5
5
PK
4
9
Do not assign
9
Hsg.
External shield Hsg.
Extern al shield
Hsg.
Hsg.
Hsg.
Hsg.
Externa Hsg. l shield
9-pin adapter block: MC 42x(B)
Conn. cable 355 484-xx
Adapter block 363 987-02
Conn. cable 366 964-xx
Male Assignment
Female
Color
Male Female
Male
Female Color
Female
1
Do not assign
1
RD
1
1
1
1
RD
1
2
RXD
2
YL
2
2
2
2
YL
3
3
TXD
3
WH
3
3
3
3
WH
2
4
DTR
4
BN
4
4
4
4
BN
6
5
Signal GND
5
BK
5
5
5
5
BK
5
6
DSR
6
VI
6
6
6
6
VI
4
7
RTS
7
GY
7
7
7
7
GY
8
8
CTS
8
WH/GN
8
8
8
8
WH/GN
7
9
Do not assign
9
GN
9
9
9
9
GN
9
Hsg.
External shield Hsg.
External shield
Hsg.
Hsg.
Hsg.
Hsg.
External shield
Hsg.
September 2006
Data Interfaces
3 – 69
X28, X128: RS-422/V.11 data interface
Pin layout: MC 42x(B)
Conn. cable 355 484-xx
Adapter block 363 987-01
Female
Assignment
Male
Color
Female
Male
Female
1
RTS
1
RD
1
1
1
2
DTR
2
YL
2
2
2
3
RXD
3
WH
3
3
3
4
TxD
4
BN
4
4
4
5
0V
5
BK
5
5
5
6
CTS
6
VI
6
6
6
7
DSR
7
GY
7
7
7
8
RxD
8
WH/GN
8
8
8
9
TxD
9
GN
9
9
9
Hsg.
External shield
Hsg.
Hsg.
Hsg.
External shield
Hsg.
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).”
3 – 70
HEIDENHAIN Technical Manual iTNC 530
3.18 Handwheel Input The following handwheels can be used with HEIDENHAIN contouring controls: HR 130 Panel-Mounted Handwheel HR 150 Panel-Mounted Handwheels via the HRA 110 handwheel adapter HR 410 or HR 420 portable handwheel X23: Handwheel input
Pin layout: D-sub connection (female) 9-pin
Assignment
1
CTS
2
0V
3
RTS
4
+12 V
5
Do not assign
6
DTR
7
TxD
8
RxD
9
DSR
Housing
External shield
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).”
September 2006
Handwheel Input
3 – 71
3.18.1 HR 4xx Portable Handwheel The HR 4xx is a portable electronic handwheel. For the assignment of the keys of the HR 410 to the PLC inputs and outputs, see “HR 410 Portable Handwheel” on page 8 – 179. Pin layout
Pin layout for the various extension cables, adapter cables, connecting cables, and the handwheel:
Extension cable Id. Nr. 281 429-xx
Adapter cable Id. Nr. 296 466-xx
Connecting cable see Chap. 2, „Introduction."
HR 4xx
D-sub connector (male) 9-pin
D-sub D-sub connector cnnctr. (male) (female) 9-pin 9-pin
Cplg. on Cnnctr. (male) mntg. (5+7)-pin base (female) (5+7)pin
Cnnctr. Connector (female) (male) (5+7)(5+7)-pin pin
Housing
Shield
Housing
Housing
Housing
2
WH
2
2
WH
E
E
WH
E
E
4
BN
4
4
BN
D
D
BN
D
D
Housing
Shield
Housing Shield
Housing Shield
6
YL
6
6
YL
B
B
YL
B
B
7
GY
7
7
GY
A
A
GY
A
A
8
GN
8
8
GN
C
C
GN
C
C
6
6
BK
6
6
7
7
RD/BL
7
7
5
5
RD
5
5
4
4
BL
4
4
2
2
WH/GN 2
2
3
3
BN/GN 3
3
1
1
GY/PK
1
1
WH/BN 3
Contacts 1 + 2
WH/YL 2
Contact 2 (left) permissive button
WH/GN 1
Contact 1 (right)
WH/BL 1
Contact 1
WH/RD 2
Contact 1 EM. STOP
YL/BK
3
Contact 2
WH/BK 4
Contact 2
Note The interfaces comply with the requirements of EN 61800-5-1 for “protective extra-low voltage (PELV).” Danger Only units that comply with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV)” may be connected.
3 – 72
HEIDENHAIN Technical Manual iTNC 530
The adapter includes plug-in terminal strips for the contacts of the EMERGENCY STOP button and permissive button (max. load 24 Vdc, 1.2 A). The plug-in terminal strips are supplied together with the adapter cable. If you have an immediate need for these terminal strips, they can be ordered in advance. See the “Additional components” table below. Internal wiring of the contacts for the EMERGENCY STOP and permissive buttons:
Additional components
Id. Nr.
Dummy plug for EMERGENCY STOP circuit
271 958-03
Connecting cable Spiral cable
312 879-01
Normal cable
296 467-xx
Metal armor tubing
296 687-xx
Plug-in terminal strips for advance ordering
September 2006
3-pin terminal block
266 364-06
4-pin terminal block
266 364-12
Handwheel Input
3 – 73
3.18.2 HR 130 Panel-Mounted Handwheel Standard cable length for the HR 130 is 1 meter. Pin layout for extension cable and handwheel: Extension cable Id. Nr. 281 429-xx
HR 130 Id. Nr. 254 040-xx
D-sub cnnctr. (male) 9-pin
D-sub cnnctr. (female) 9-pin
D-sub cnnctr. (male) 9-pin
Housing
Shield
Housing
Housing
Shield
2
WH
2
2
WH
4
BN
4
4
BN
6
YL
6
6
YL
8
GN
8
8
GN
7
GY
7
3.18.3 HRA 110 Handwheel Adapter With the handwheel adapter you can connect two or three HR 150 panelmounted handwheels to the TNC. The first and second handwheels are assigned to the X and Y axes. The third handwheel can be assigned either through a selection switch (option) or with MP7645.
HR 150
HRA 110 X31 X1
X2
X3
24 V
S2
Achswahl (Option) AXIS SELECTION (OPTIONAL)
S1
Unterteilungsfaktorwahl (Option) INTERPOLATION FACTOR (OPTIONAL) X23 (LE)
X23 Id.-Nr. 270 909..
max. 20 m
max. 50 m
An additional switch enables you to select, for example, the interpolation factor for the handwheel. In the PLC you must evaluate the current position of the handwheel selection switch and activate the corresponding interpolation factor with Module 9036.
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HEIDENHAIN Technical Manual iTNC 530
X1 to X3: Inputs on the HRA 110 for the HR 150
Pin layout: HRA 110 Connection (female) 9-pin
X23: Connection to MC 42x(B)
Assignment
1
I1 +
2
I1 –
5
I2 +
6
I2 –
7
I0 –
8
I0 +
3
+5V
4
0V
9
Internal shield
Housing
External shield
Pin layout on the HRA 110: HRA 110
X31: HRA 110 supply voltage
D-sub connection (female) 9-pin
Assignment
1
RTS
2
0V
3
CTS
4
+12 V +0.6 V (UV)
5
Do not assign
6
DSR
7
RxD
8
TxD
9
DTR
Housing
External shield
Pin layout on the HRA 110:
Warning The power supply of the PLC must not be used simultaneously for the HRA 110, otherwise the metallic isolation of the PLC inputs/outputs would be bridged. HRA 110 Connecting terminal
Assignment
1
+ 24 Vdc as per IEC 742 (VDE 551)
2
0V
Maximum current consumption 200 mA.
September 2006
Handwheel Input
3 – 75
3.19 Input: Spindle Reference Signal If you mount a HEIDENHAIN encoder directly onto the spindle—without a transmission—you must not wire this input. If you use the X30 input for evaluation of the reference signal, then adjust this function with MP3143. X30: Reference signal for spindle
3 – 76
Pin layout: Connecting terminal
Assignment
1
+24 V
2
0V
HEIDENHAIN Technical Manual iTNC 530
3.20 Switching Inputs 24 Vdc (PLC) 3.20.1 Input Signals and Addresses Input signals of the switching inputs on the MC 42x(B), PL 4xxB, and PLD 16-8: Voltage range
MC 42x(B), PL 4xx B
PLD 16-8
“1” signal: Ui
13 V to 30.2 V
13 V to 28.8 V
“0” signal: Ui
–20 V to 3.2 V
–3 V to 2.5 V
Current ranges
MC 42x(B)
PL 4xx B
PLD 16-8
“1” signal: Ii
3.8 mA to 8.9 mA
2.5 mA to 6 mA
2.5 mA to 5.8 mA
“0” signal: Ii when Ui = 3.2 V
1.0 mA
0.65 mA
0.3 mA
Addresses of the switching inputs at:
September 2006
Address
Number
Device
I0 to I31
31 + Control-isready signal
MC 42x(B), X42 (PLC input)
I128 to I152
25
MC 42x(B), X 46 (machine operating panel)
I64 to I127 I64 to I95
64 32
First PL 410B, PL 510 (PLD 16-8) First PL 405 B
I192 to I255 I192 to I223
64 32
Second PL 410B, PL 510 (PLD 16-8) Second PL 405 B
I256 to I319 I256 to I287
64 32
Third PL 410B, PL 510 (PLD 16-8) Third PL 405B
I320 to I383 I320 to I351
64 32
Fourth PL 410B, PL 510 (PLD 16-8) Fourth PL 405B
Switching Inputs 24 Vdc (PLC)
3 – 77
X42: PLC inputs on the MC 422x(B)
Pin layout:
MC 42x(B)
Connecting cable Id. Nr. 244 005-xx, Id. Nr. 263 954-xx
D-sub connection (female) 37-pin
Assignment
D-sub connection (male) 37-pin
1
I0
1
GY/RD
2
I1
2
BN/BK
3
I2
3
WH/BK
4
I3 Control-is-ready signal acknowledgement
4
GN/BK
5
I4
5
BN/RD
6
I5
6
WH/RD
7
I6
7
WH/GN
8
I7
8
RD/BL
9
I8
9
YL/RD
10
I9
10
GY/PK
11
I10
11
BK
12
I11
12
PK/BN
13
I12
13
YL/BL
14
I13
14
GN/BL
15
I14
15
YL
16
I15
16
RD
17
I16
17
GY
18
I17
18
BL
19
I18
19
PK
20
I19
20
WH/GY
21
I20
21
YL/GY
22
I21
22
GN/RD
23
I22
23
WH/PK
24
I23
24
GY/GN
25
I24
25
YL/BN
26
I25
26
GY/BN
27
I26
27
YL/BK
28
I27
28
WH/YL
29
I28
29
GY/BL
30
I29
30
PK/BL
31
I30
31
PK/RD
32
I31
32
BN/BL
33
I32 Drive enable
33
PK/GN
34
Do not assign
34
BN
3 – 78
HEIDENHAIN Technical Manual iTNC 530
MC 42x(B)
Connecting cable Id. Nr. 244 005-xx, Id. Nr. 263 954-xx
D-sub connection (female) 37-pin
Assignment
35
0 V (PLC) Test output; do not assign 35
YL/PK
36
0 V (PLC) Test output; do not assign 36
VI
37
0 V (PLC) Test output; do not assign 37
WH
Housing
External shield
External shield
September 2006
D-sub connection (male) 37-pin
Housing
Switching Inputs 24 Vdc (PLC)
3 – 79
3.20.2 PLC Inputs on the PL 410 B X3 to X6: PLC inputs
Pin layout on the PL: X3 Terminal
Assignment PL 1
PL 2
PL 3
PL 4
1
I64
I192
I256
I320
2
I65
I193
I257
I321
3
I66
I194
I258
I322
4
I67
I195
I259
I323
5
I68
I196
I260
I324
6
I69
I197
I261
I325
7
I70
I198
I262
I326
8
I71
I199
I263
I327
9
I72
I200
I264
I328
10
I73
I201
I265
I329
11
I74
I202
I266
I330
12
I75
I203
I267
I331
13
I76
I204
I268
I332
14
I77
I205
I269
I333
15
I78
I206
I270
I334
16
I79
I207
I271
I335
X4 Terminal
3 – 80
Assignment PL 1
PL 2
PL 3
PL 4
1
I80
I208
I272
I336
2
I81
I209
I273
I337
3
I82
I210
I274
I338
4
I83
I211
I275
I339
5
I84
I212
I276
I340
6
I85
I213
I277
I341
7
I86
I214
I278
I342
8
I87
I215
I279
I343
9
I88
I216
I280
I344
10
I89
I217
I281
I345
11
I90
I218
I282
I346
12
I91
I219
I283
I347
13
I92
I220
I284
I348
14
I93
I221
I285
I349
15
I94
I222
I286
I350
16
I95
I223
I287
I351
HEIDENHAIN Technical Manual iTNC 530
X5 Terminal
Assignment PL 1
PL 2
PL 3
PL 4
1
I96
I224
I288
I352
2
I97
I225
I289
I353
3
I98
I226
I290
I354
4
I99
I227
I291
I355
5
I100
I228
I292
I356
6
I101
I229
I293
I357
7
I102
I230
I294
I358
8
I103
I231
I295
I359
9
I104
I232
I296
I360
10
I105
I233
I297
I361
11
I106
I234
I298
I362
12
I107
I235
I299
I363
13
I108
I236
I300
I364
14
I109
I237
I301
I365
15
I110
I238
I302
I366
16
I111
I239
I303
I367
PL 1
PL 2
PL 3
PL 4
1
I112
I240
I304
I368
2
I113
I241
I305
I369
3
I114
I242
I306
I370
4
I115
I243
I307
I371
5
I116
I244
I308
I372
6
I117
I245
I309
I373
7
I118
I246
I310
I374
8
I119
I247
I311
I375
X6 Terminal
September 2006
Assignment
9
I120
I248
I312
I376
10
I121
I249
I313
I377
11
I122
I250
I314
I378
12
I123
I251
I315
13
I124
I252
I316
I380
14
I125
I253
I317
I381
15
I126
I254
I318
I382
16
I127
I255
I319
I383
Switching Inputs 24 Vdc (PLC)
3 – 81
3.20.3 PLC Inputs on the PL 405 B X3, X4: PLC inputs
Pin layout on the PL: X3 Terminal
Assignment PL 1
PL 2
PL 3
PL 4
1
I64
I192
I256
I320
2
I65
I193
I257
I321
3
I66
I194
I258
I322
4
I67
I195
I259
I323
5
I68
I196
I260
I324
6
I69
I197
I261
I325
7
I70
I198
I262
I326
8
I71
I199
I263
I327
9
I72
I200
I264
I328
10
I73
I201
I265
I329
11
I74
I202
I266
I330
12
I75
I203
I267
I331
13
I76
I204
I268
I332
14
I77
I205
I269
I333
15
I78
I206
I270
I334
16
I79
I207
I271
I335
X4 Terminal
3 – 82
Assignment PL 1
PL 2
PL 3
PL 4
1
I80
I208
I272
I336
2
I81
I209
I273
I337
3
I82
I210
I274
I338
4
I83
I211
I275
I339
5
I84
I212
I276
I340
6
I85
I213
I277
I341
7
I86
I214
I278
I342
8
I87
I215
I279
I343
9
I88
I216
I280
I344
10
I89
I217
I281
I345
11
I90
I218
I282
I346
12
I91
I219
I283
I347
13
I92
I220
I284
I348
14
I93
I221
I285
I349
15
I94
I222
I286
I350
16
I95
I223
I287
I351
HEIDENHAIN Technical Manual iTNC 530
3.20.4 PLC Inputs on the PL 510 X4 to X5: PLC inputs
Pin layout on the PLD 16-8 input/output module:
Note The 0-V terminals of X4 and X5 of the PLD 16-8 are connected internally. These connections are used for connecting the potential of the electronics and for operating the LEDs. Since only a low current is required (max. 50 mA), it is sufficient to establish only one 0-V connection (preferably at X4). X4 Assignment First PL 510
Terminal 1
2
3
4
5
6
7
8
9
10
Socket 1
0V
0V
I64
I65
I66
I67
I68
I69
I70
I71
Socket 2
0V
0V
I80
I81
I82
I83
I84
I85
I86
I87
Socket 3
0V
0V
I96
I97
I98
I99
I100
I101
I102
I103
Socket 4
0V
0V
I112
I113
I114
I115
I116
I117
I118
I119
Socket 1
0V
0V
I192
I193
I194
I195
I196
I197
I198
I199
Socket 2
0V
0V
I208
I209
I210
I211
I212
I213
I214
I215
Socket 3
0V
0V
I224
I225
I226
I227
I228
I229
I230
I231
Socket 4
0V
0V
I240
I241
I242
I243
I244
I245
I246
I247
Socket 1
0V
0V
I256
I257
I258
I259
I260
I261
I262
I263
Socket 2
0V
0V
I272
I273
I274
I275
I276
I277
I278
I279
Socket 3
0V
0V
I288
I289
I290
I291
I292
I293
I294
I295
Socket 4
0V
0V
I304
I305
I306
I307
I308
I309
I310
I311
Fourth PL 510 Socket 1
0V
0V
I320
I321
I322
I323
I324
I325
I326
I327
Socket 2
0V
0V
I336
I337
I338
I339
I340
I341
I342
I343
Socket 3
0V
0V
I352
I353
I354
I355
I356
I357
I358
I359
Socket 4
0V
0V
I368
I369
I370
I371
I372
I373
I374
I375
Second PL 510
Third PL 510
September 2006
Switching Inputs 24 Vdc (PLC)
3 – 83
X5 Assignment First PL 510
Second PL 510
Third PL 510
Terminal 1
2
3
4
5
6
7
8
9
10
Socket 1
0V
0V
I72
I73
I74
I75
I76
I77
I78
I79
Socket 2
0V
0V
I88
I89
I90
I91
I92
I93
I94
I95
Socket 3
0V
0V
I104
I105
I106
I107
I108
I109
I110
I111
Socket 4
0V
0V
I120
I121
I122
I123
I124
I125
I126
I127
Socket 1
0V
0V
I200
I201
I202
I203
I204
I205
I206
I207
Socket 2
0V
0V
I216
I217
I218
I219
I220
I221
I222
I223
Socket 3
0V
0V
I232
I233
I234
I235
I236
I237
I238
I239
Socket 4
0V
0V
I248
I249
I250
I251
I252
I253
I254
I255
Socket 1
0V
0V
I264
I265
I266
I267
I268
I269
I270
I271
Socket 2
0V
0V
I280
I281
I282
I283
I284
I285
I286
I287
Socket 3
0V
0V
I296
I297
I298
I299
I300
I301
I302
I303
Socket 4
0V
0V
I312
I313
I314
I315
I316
I317
I318
I319
Fourth PL 510 Socket 1
0V
0V
I328
I329
I330
I331
I332
I333
I334
I335
Socket 2
0V
0V
I344
I345
I346
I347
I348
I349
I350
I351
Socket 3
0V
0V
I360
I361
I362
I363
I364
I365
I366
I367
Socket 4
0V
0V
I376
I377
I378
I379
I380
I381
I382
I383
3 – 84
HEIDENHAIN Technical Manual iTNC 530
3.21 Switching Outputs 24 Vdc (PLC) Output signals and addresses
The switching outputs are transistor outputs with current limitation. Please note: Permissible load: Resistive load—inductive load only with quenching diode parallel to inductance MC 42x(B), PL 4xxB: Short circuiting of one output is permissible. No more than one output may be short-circuited at one time. PLD 16-8: The outputs are short-circuit proof. Output signals: MC 42x(B), PL 4xxB, PLD 16-8 Min. output voltage for “1” signal
3 V below supply voltage
Note The switching outputs need a minimum load of 5 mA. They conform to EN 61131-2. Warning PLC outputs must neither be connected to a 24-V supply, nor to other PLC outputs with a difference in potential. Otherwise, the voltage present at the PLC outputs is transmitted to the power supply. As a result, the PLC outputs that can be switched off may nevertheless be supplied with this voltage. Addresses: Address
Number
Device
O0 to O30
31
MC 42x(B), X41 (PLC output)
O0 to O7
8
MC 42x(B), X46 (machine operating panel)
O32 to O62
31
First PLC I/O unit
O64 to O94
31
Second PLC I/O unit
O128 to O158
31
Third PLC I/O unit
O160 to O190
31
Fourth PLC I/O unit
The "control-is-ready" output at X41 can have the same load as a normal PLC output. If a higher current is required for switching a relay, the "control-isready" outputs of the PLs can be used in addition. For this purpose, the PLs must have a separate power supply.
September 2006
Switching Outputs 24 Vdc (PLC)
3 – 85
X41: PLC outputs on the MC 42x(B)
Pin layout: MC 42x(B) D-sub connctn. (female) 37-pin
Connecting cable Id. Nr. 244 005-xx Id. Nr. 263 954-xx Assignment
D-sub cnnctr. (male) 37-pin
Supply via X44, pin 3; can be switched off with EMERGENCY STOP 1
O0a
1
GY/RD
2
O1a
2
BN/BK
a
3
O2
3
WH/BK
4
O3a
4
GN/BK
5
O4a
5
BN/RD
6
O5a
6
WH/RD
7
O6a
7
WH/GN
8
O7a
8
RD/BL
9
O8
9
YL/RD
10
O9
10
GY/PK
11
O10
11
BK
12
O11
12
PK/BN
13
O12
13
YL/BL
14
O13
14
GN/BL
15
O14
15
YL
16
O15
16
RD
Supply via X44, pin 2; can be switched off with EMERGENCY STOP 17
O16
17
GY
18
O17
18
BL
19
O18
19
PK
20
O19
20
WH/GY
21
O20
21
YL/GY
22
O21
22
GN/RD
23
O22
23
WH/PK
24
O23
24
GY/GN
Supply via X44, pin 1; cannot be switched off with EMERGENCY STOP
3 – 86
25
O24
25
YL/BN
26
O25
26
GY/BN
27
O26
27
YL/BK
28
O27
28
WH/YL
29
O28
29
GY/BL
HEIDENHAIN Technical Manual iTNC 530
MC 42x(B)
Connecting cable Id. Nr. 244 005-xx Id. Nr. 263 954-xx
D-sub connctn. (female) 37-pin
Assignment
D-sub cnnctr. (male) 37-pin
30
O29
30
PK/BL
31
O30
31
PK/RD
32, 33
Do not assign
32
BN/BL, PK/GN
34
Control is ready
34
BN
35, 36, 37
Do not assign
35
YL/PK, VI, WH
Housing
External shield
Housing
External shield
a. Also via X46 (PLC inputs/outputs)
September 2006
Switching Outputs 24 Vdc (PLC)
3 – 87
X7, X8: PLC outputs on the PL 410 B
Pin layout on the PL: X7 Terminal
Assignment PL 1
PL 2
PL 3
PL 4
1
O32
O64
O128
O160
2
O33
O65
O129
O161
3
O34
O66
O130
O162
4
O35
O67
O131
O163
5
O36
O68
O132
O164
6
O37
O69
O133
O165
7
O38
O70
O134
O166
8
O39
O71
O135
O167
9
O40
O72
O136
O168
10
O41
O73
O137
O169
11
O42
O74
O138
O170
12
O43
O75
O139
O171
13
O44
O76
O140
O172
14
O45
O77
O141
O173
15
O46
O78
O142
O174
16
O47
O79
O143
O175
X8 Terminal
3 – 88
Assignment PL 1
PL 2
PL 3
PL 4
1
O48
O80
O144
O176
2
O49
O81
O145
O177
3
O50
O82
O146
O178
4
O51
O83
O147
O179
5
O52
O84
O148
O180
6
O53
O85
O149
O181
7
O54
O86
O150
O182
8
O55
O87
O151
O183
9
O56
O88
O152
O184
10
O57
O89
O153
O185
11
O58
O90
O154
O186
12
O59
O91
O155
O187
13
O60
O92
O156
O188
14
O61
O93
O157
O189
15
O62
O94
O158
O190
16
Control is ready
HEIDENHAIN Technical Manual iTNC 530
X8: PLC outputs on the PL 405 B
Pin layout on the PL: X8 Terminal
September 2006
Assignment PL 1
PL 2
PL 3
PL 4
1
O48
O80
O144
O176
2
O49
O81
O145
O177
3
O50
O82
O146
O178
4
O51
O83
O147
O179
5
O52
O84
O148
O180
6
O53
O85
O149
O181
7
O54
O86
O150
O182
8
O55
O87
O151
O183
9
O56
O88
O152
O184
10
O57
O89
O153
O185
11
O58
O90
O154
O186
12
O59
O91
O155
O187
13
O60
O92
O156
O188
14
O61
O93
O157
O189
15
O62
O94
O158
O190
16
Control is ready
Switching Outputs 24 Vdc (PLC)
3 – 89
X6: PLC outputs on the PL 510
Pin layout on the PLD 16-8 input/output module:
X6 Assignment
Terminal 1
2
3
4
5
6
7
8
9
First PL 510
Socket 1
O32
O33
O34
O35
O36
O37
O38
O39a
+24 Vb +24 Vc
Socket 2
O40
O41
O42
O43
O44
O45
O46
O47a
+24 Vb +24 Vc
Socket 3
O48
O49
O50
O51
O52
O53
O54
O55a
+24 Vb +24 Vc
Socket 4
O56
O57
O58
O59
O60
O61
O62
-
+24 Vb +24 Vc
Socket 1
O64
O65
O66
O67
O68
O69
O70
O71a
+24 Vb +24 Vc +24 Vb +24 Vc
Second PL 510
Third PL 510
Fourth PL 510
10
Socket 2
O72
O73
O74
O75
O76
O77
O78
O79a
Socket 3
O80
O81
O82
O83
O84
O85
O86
O87a
+24 Vb +24 Vc
Socket 4
O88
O89
O90
O91
O92
O93
O94
-
+24 Vb +24 Vc
Socket 1
O128 O129 O130 O131 O132 O133 O134 O135a +24 Vb +24 Vc
Socket 2
O136 O137 O138 O139 O140 O141 O142 O143a +24 Vb +24 Vc
Socket 3
O144 O145 O146 O147 O148 O149 O150 O151a +24 Vb +24 Vc
Socket 4
O152 O153 O154 O155 O156 O157 O158 -
Socket 1
O160 O161 O162 O163 O164 O165 O166 O167a +24 Vb +24 Vc
Socket 2
O168 O169 O170 O171 O172 O173 O174 O175a +24 Vb +24 Vc
Socket 3
O176 O177 O178 O179 O180 O181 O182 O183a +24 Vb +24 Vc
Socket 4
O184 O185 O186 O187 O188 O189 O190 -
+24 Vb +24 Vc
+24 Vb +24 Vc
a. The function of this terminal can be set with a sliding switch on the rear side of the PLD 16-8 I/O module: Setting 1: Control-is-ready signal Setting 2: PLC output b. Group 1 (terminals 1 to 4) c. Group 2 (terminals 5 to 8) Note If you use only the outputs at X6 for a PLD 16-8 I/O unit (and no inputs), the 0-V connection for supplying the electronics and for operating the LEDs must be established at X4 or X5 (see “X4 to X5: PLC inputs” on page 3 – 83). Note The iTNC 530 cyclically monitors the PLC outputs of the PL 510 for a shortcircuit.
3 – 90
HEIDENHAIN Technical Manual iTNC 530
3.22 PLC Input/Output Units 3.22.1 PL 4xxB Up to four PL 4xxB can be connected to the MC 422(B). The PL 410B is available with and without analog inputs. Device
Id. Nr.
Switching Switching Analog inputs Inputs for Pt 100 inputs 24 Vdc outpt. 24 Vdc (± 10 V) thermistors
PL 410 B
263 371-12
64
31
–
–
PL 410 B
263 371-02
64
31
4
4
PL 405 B
263 371-22
32
15
–
–
No more than one PL 405B may be used. If connecting through a PL 410B, the PL 405B must be connected last.
September 2006
PLC Input/Output Units
3 – 91
X41: PLC expansion on the MC 422(B)
Pin layout:
MC 42x(B)
Conn. cable Id. Nr. 289 111-xx / Id. Nr. 317 788-xx
1st PL 410 B/PL405 B
D-sub cnnctr. (male) 25-pin
X1 D-sub Assignment cnnctn. (female) 25-pin
D-sub cnnctn. (male) 25-pin
Assignment
D-sub cnnctr. (female) 25-pin
1
0V
1
BN, YL, PK, RD, VI
1
1
0V
2
0V
2
RD/BL, BN/GN, YL/BN, GY/BN, PK/BN
2
2
0V
3
0V
3
BN/BL, BN/RD, BN/BK, YL/GY, YL/PK
3
3
0V
4
Do not assign 4
GY/GN
4
4
Serial IN 2
5
Address 6
5
WH/GN
5
5
Address 6
6
INTERRUPT
6
PK/GN
6
6
INTERRUPT
7
RESET
7
GN/BL
7
7
RESET
8
WRITE EXTERN
8
WH/BL
8
8
WRITE EXTERN
9
WRITE EXTERN
9
WH/RD
9
9
WRITE EXTERN
10
Address 5
10
GY/PK
10
10
Address 5
11
Address 3
11
BL
11
11
Address 3
12
Address 1
12
GN
12
12
Address 1
13
Do not assign 13
13
13
Do not assign
14
PCB identifier 14 3
YL/BL, PK/BL, YL/BK
14
14
+ 12 V
15
PCB identifier 15 4
YL/RD, GY/RD, PK/RD
15
15
+ 12 V
16
Do not assign 16
GY/BL
16
16
PCB identifier 2
17
Do not assign 17
GN/BK
17
17
PCB identifier 1
18
Address 7
18
WH/YL
18
18
Address 7
19
Serial IN 1
19
WH/BK
19
19
Serial IN 1
20
EM. STOP
20
GN/RD
20
20
EM. STOP
21
Serial OUT
21
WH/GY
21
21
Serial OUT
22
Serial OUT
22
WH/PK
22
22
Serial OUT
23
Address 4
23
BK
23
23
Address 4
24
Address 2
24
GY
24
24
Address 2
25
Address 0
25
Housing
External shield Housing
3 – 92
WH
25
25
Address 0
External shield
Housing
Housing
External shield
HEIDENHAIN Technical Manual iTNC 530
X2: PLC expansion PL 4xxB on the PL 410 B
Pin layout:
PL 410 B
Conn. cable Id. Nr. 289 111-xx / Id. Nr. 317 788-xx
PL 410 B PL 405B on the PL 410B
D-sub cnnctr. (male) 25-pin
X1 D-sub cnnctn. (female) 25-pin
Assignment
D-sub cnnctn. (male) 25-pin
Assignment
D-sub cnnctr. (female) 25-pin
1
0V
1
BN, YL, PK, RD, VI
1
1
0V
2
0V
2
RD/BL, BN/GN, YL/BN, GY/BN, PK/BN
2
2
0V
3
0V
3
BN/BL, BN/RD, BN/BK, YL/GY, YL/PK
3
3
0V
4
Do not assign 4
GY/GN
4
4
Serial IN 2
5
Address 6
5
WH/GN
5
5
Address 6
6
INTERRUPT
6
PK/GN
6
6
INTERRUPT
7
RESET
7
GN/BL
7
7
RESET
8
WRITE EXTERN
8
WH/BL
8
8
WRITE EXTERN
9
WRITE EXTERN
9
WH/RD
9
9
WRITE EXTERN
10
Address 5
10
GY/PK
10
10
Address 5
11
Address 3
11
BL
11
11
Address 3
12
Address 1
12
GN
12
12
Address 1
13
Do not assign 13
13
13
Do not assign
14
PCB identifier 14 4
YL/BL, PK/BL, YL/BK
14
14
+12 V
15
PCB identifier 15 3
YL/RD, GY/RD, PK/RD
15
15
+12 V
16
PCB identifier 16 2
GY/BL
16
16
PCB identifier 2
17
PCB identifier 17 1
GN/BK
17
17
PCB identifier 1
18
Address 7
WH/YL
18
18
Address 7
19
Serial IN 1
19
WH/BK
19
19
Serial IN 1
20
EM. STOP
20
GN/RD
20
20
EM. STOP
21
Serial OUT
21
WH/GY
21
21
Serial OUT
22
Serial OUT
22
WH/PK
22
22
Serial OUT
23
Address 4
23
BK
23
23
Address 4
24
Address 2
24
GY
24
24
Address 2
25
Address 0
25
WH
25
25
Address 0
Housing
External shield
Housing
External shield
Housing
Housing
External shield
September 2006
18
PLC Input/Output Units
3 – 93
3.22.2 PL 510 Up to four PL 510 can be connected to the MC 42x(B). The PLB 510 basic modules can be fitted with any combination of PLD 16-8 I/ O modules and PLA 4-4 analog modules. It is also possible to leave gaps, since not all slots on the PLB 510 must be used. Meaning of the LEDs on the PLD 16-8
LED
Meaning
Red LED on X4, pin 1
Short circuit of the outputsa
Yellow LEDs at X4, X5 and X6
Status of the inputs and outputs
Green LEDs at X6, pin 9 and pin 10
24 V power supply of the outputs
a. An output is reset when a short circuit occurs. The short-circuit monitoring remains in effect, and must therefore be reset with Module 9139. In order to recognize a short circuit, a current of 20 A must be able to flow for approximately 3 ms. If this is not the case (e.g. the 24-V supply limits the current sooner), the short-circuit monitoring might not become effective.
3 – 94
HEIDENHAIN Technical Manual iTNC 530
X47: PLC expansion on the MC 422(B)
Pin layout:
MC 42x(B)
Connecting cable Id. Nr. 371 045-xx
1st PL 510
D-sub cnnctn. (male) 25-pin
Assignment
D-sub cnnctr. (female) 25-pin
D-sub cnnctr. (male) 26-pin
X1 D-sub Assignment cnnctn. (female) 26-pin
1
0V
1
BK
1
1
0V
2
0V
2
VI
2
2
0V
3
0V
3
3
3
0V
4
Do not assign 4
4
4
Do not assign
5
Address 6
5
YL
5
5
Address 6
6
INTERRUPT
6
BL
6
6
INTERRUPT
7
RESET
7
RD
7
7
RESET
8
WRITE EXTERN
8
GY
8
8
WRITE EXTERN
9
WRITE EXTERN
9
PK
9
9
WRITE EXTERN
10
Address 5
10
GN
10
10
Address 5
11
Address 3
11
WH
11
11
Address 3
12
Address 1
12
BN
12
12
Address 1
13
Do not assign 13
13
13
Do not assign
14
+5 V (output)
14
WH/BL
14
14
15
+5 V (feedback)
15
BN/BL
15
15
16
Do not assign 16
WH/PK
16
16
PCB identifier 2
17
Do not assign 17
PK/BN
17
17
PCB identifier 1
18
Address 7
BN/GN
18
18
Address 7
19
Serial IN 1
19
WH/GY
19
19
Serial IN 1
20
EM. STOP
20
GY/BN
20
20
EM. STOP
21
Serial OUT
21
WH/YL
21
21
Serial OUT
22
Serial OUT
22
YL/BN
22
22
Serial OUT
23
Address 4
23
WH/GN
23
23
Address 4
24
Address 2
24
GY/PK
24
24
Address 2
25
Address 0
25
RD/BL
Address 0
Housing
18
External shield Housing
September 2006
External shield
25
25
26
26
Housing
Housing
PLC Input/Output Units
External shield
3 – 95
X147: PLC expansion on the MC 420
Pin layout:
PL 420
Connecting cable Id. Nr. 371 046-xx
First PL 510
D-sub cnnctn. (male) 26-pin
Assignment
D-sub cnnctr. (female) 26-pin
D-sub cnnctr. (male) 26-pin
X1 D-sub cnnctn. (female) 26-pin
Assignment
1
0V
1
BK
1
1
0V
2
0V
2
VI
2
2
0V
3
0V
3
3
3
0V
4
Do not assign 4
4
4
Do not assign
5
Address 6
5
YL
5
5
Address 6
6
INTERRUPT
6
BL
6
6
INTERRUPT
7
RESET
7
RD
7
7
RESET
8
WRITE EXTERN
8
GY
8
8
WRITE EXTERN
9
WRITE EXTERN
9
PK
9
9
WRITE EXTERN
10
Address 5
10
GN
10
10
Address 5
11
Address 3
11
WH
11
11
Address 3
12
Address 1
12
BN
12
12
Address 1
13
Do not assign 13
13
13
Do not assign
14
+5 V (output)
14
WH/BL
14
14
15
+5 V (feedback)
15
BN/BL
15
15
16
PCB identifier 16 2
WH/PK
16
16
PCB identifier 2
17
PCB identifier 17 1
PK/BN
17
17
PCB identifier 1
18
Address 7
18
BN/GN
18
18
Address 7
19
Serial IN 1
19
WH/GY
19
19
Serial IN
20
EM. STOP
20
GY/BN
20
20
EM. STOP
21
Serial OUT
21
WH/YL
21
21
Serial OUT
22
Serial OUT
22
YL/BN
22
22
Serial OUT
23
Address 4
23
WH/GN
23
23
Address 4
24
Address 2
24
GY/PK
24
24
Address 2
25
Address 0
25
RD/BL
25
25
Address 0
26
26
Housing
Housing
26 Housing
3 – 96
26 External shield
Housing
External shield
External shield
HEIDENHAIN Technical Manual iTNC 530
X2: PLC expansion PL 510 on the PL 510
Pin layout:
PL 510
Connecting cable Id. Nr. 371 046-xx
PL 510 on PL 510
D-sub cnnctn. (male) 26-pin
Assignment
D-sub cnnctr. (female) 26-pin
D-sub cnnctr. (male) 26-pin
X1 D-sub cnnctn. (female) 26-pin
Assignment
1
0V
1
BK
1
1
0V
2
0V
2
VI
2
2
0V
3
0V
3
3
3
0V
4
Do not assign 4
4
4
Do not assign
5
Address 6
5
YL
5
5
Address 6
6
INTERRUPT
6
BL
6
6
INTERRUPT
7
RESET
7
RD
7
7
RESET
8
WRITE EXTERN
8
GY
8
8
WRITE EXTERN
9
WRITE EXTERN
9
PK
9
9
WRITE EXTERN
10
Address 5
10
GN
10
10
Address 5
11
Address 3
11
WH
11
11
Address 3
12
Address 1
12
BN
12
12
Address 1
13
Do not assign 13
13
13
Do not assign
14
+5 V (output)
14
WH/BL
14
14
15
+5 V (feedback)
15
BN/BL
15
15
16
PCB identifier 16 2
WH/PK
16
16
PCB identifier 2
17
PCB identifier 17 1
PK/BN
17
17
PCB identifier 1
18
Address 7
18
BN/GN
18
18
Address 7
19
Serial IN 1
19
WH/GY
19
19
Serial IN
20
EM. STOP
20
GY/BN
20
20
EM. STOP
21
Serial OUT
21
WH/YL
21
21
Serial OUT
22
Serial OUT
22
YL/BN
22
22
Serial OUT
23
Address 4
23
WH/GN
23
23
Address 4
24
Address 2
24
GY/PK
24
24
Address 2
25
Address 0
25
RD/BL
25
25
Address 0
26
26
External shield
Housing
Housing
26 Housing
26 External shield
September 2006
Housing
PLC Input/Output Units
External shield
3 – 97
3.23 Machine Operating Panel For machines with up to four axes, HEIDENHAIN offers the MB 420 machine operating panel. It is installed below the TNC operating panel. There is a version of the MB 420 available with a standard set of keys (see connector layout for X46). On the underside of the machine operating panel are two terminal strips bearing the PLC inputs I151 and I152 as well as the PLC outputs O0 to O7. Assignment of PLC inputs to the keys of the MB 420:
X3: PLC inputs
X4: PLC outputs
3 – 98
I 136
I 135
I 134
I 137
I 138
I 143
I 145
I 128
I 148
I 133
I 149
I 139
I 144
I 150
I 129
I 130
I 131
I 132
I 140
I 141
I 142
I 146
I 147
Pin layout: Terminal
Assignment
1
I151
2
I152
3
+24 V
Pin layout: Terminal
Assignment
1
O0
2
O1
3
O2
4
O3
5
O4
6
O5
7
O6
8
O7
9
0V
HEIDENHAIN Technical Manual iTNC 530
X46: PLC inputs and outputs
PLC inputs I128 to I152 and PLC outputs O0 to O7 are on connection X46 of the machine operating panel. The reference potential (PLC) for outputs O0 to O7 is connected to pins 34 and 35. Pin layout on the MC 42x(B), connecting cables and machine operating panel: Warning PLC inputs I128 to I152 must be driven only with the power supply from pins 36 and 37, since this power supply is internally protected (PLC power supply from X44 connection 2).
MC 42x(B)
Connecting cable Id. Nr. 263 954-xx
D-sub Assignment D-sub Connectio cnnctr. n (female) (male) 37-pin 37-pin
MB 420
D-sub cnnctr. (female) 37-pin
D-sub connctn. (male) 37-pin
Key
1
I128
1
GY/RD
1
1
X–
2
I129
2
BN/BK
2
2
Y–
3
I130
3
WH/BK
3
3
Z–
4
I131
4
GN/BK
4
4
IV –
5
I132
5
BN/RD
5
5
V–
6
I133
6
WH/RD
6
6
X+
7
I134
7
WH/GN
7
7
Y+
8
I135
8
RD/BL
8
8
Z+
9
I136
9
YL/RD
9
9
IV +
10
I137
10
GY/PK
10
10
V+
11
I138
11
BK
11
11
Tool change
12
I139
12
PK/BN
12
12
Unlock tool
13
I140
13
YL/BL
13
13
Menu selection
14
I141
14
GN/BL
14
14
Unlock door
15
I142
15
YL
15
15
Chip removal
16
I143
16
RD
16
16
Spindle on
17
I144
17
GY
17
17
Spindle off
18
I145
18
BL
18
18
Coolant
19
I146
19
PK
19
19
NC start
20
I147
20
WH/GY
20
20
NC stop
21
I148
21
YL/GY
21
21
Rapid traverse
22
I149
22
GN/RD
22
22
Retract axis
23
I150
23
WH/PK
23
23
Rinse water jet
24
I151
24
GY/GN
24
24
Via X3
25
I152
25
YL/BN
25
25
Via X3
September 2006
Machine Operating Panel
3 – 99
MC 42x(B)
Connecting cable Id. Nr. 263 954-xx
D-sub Assignment D-sub Connectio cnnctr. n (female) (male) 37-pin 37-pin
MB 420
D-sub cnnctr. (female) 37-pin
D-sub connctn. (male) 37-pin
Key
26
O0a
26
GY/BN
26
26
Via X4
27
O1a
26
YL/BK
27
27
Via X4
a
28
O2
28
WH/YL
28
28
Via X4
29
O3a
29
GY/BL
29
29
Via X4
30
O4a
30
PK/BL
30
30
Via X4
31
O5a
31
PK/RD
31
31
Via X4
32
O6
a
32
BN/BL
32
32
Via X4
33
O7a
33
PK/GN
33
33
Via X4
34, 35
0 V (PLC)
34, 35
BN, YL/PK
34, 35
34, 35
36, 37
+24 V (PLC)
36
VI, WH
36, 37
36.37
Housing
Ext. shield
Housing
External shield
Housing
Housing
a. Also via X41 (PLC outputs on the MC 42x(B))
3 – 100
HEIDENHAIN Technical Manual iTNC 530
3.24 iTNC Keyboard Unit X1: Connection of soft keys on the visual display unit with the iTNC keyboard
Pin layout: Connecting element (male) 9-pin
Assignment
1
SL0
2
SL1
3
SL2
4
SL3
5
Do not assign
6
RL15
7
RL14
8
RL13
9
RL12 Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).” Danger Only units that comply with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV)” may be connected.
X45/X2: iTNC keyboard unit
Pin layout:
MC 42x(B) – X45
Connecting cable Id. Nr. 263 954-xx
TE – X2
D-sub connctn. (female) 37-pin
Assignment
D-sub cnnctr. (male) 37-pin
1
RL0
1
GY/RD
1
1
2
RL1
2
BN/BK
2
2
3
RL2
3
WH/BK
3
3
4
RL3
4
GN/BK
4
4
5
RL4
5
BN/RD
5
5
6
RL5
6
WH/RD
6
6
7
RL6
7
WH/GN
7
7
8
RL7
8
RD/BL
8
8
9
RL8
9
YL/RD
9
9
10
RL9
10
GY/PK
10
10
11
RL10
11
BK
11
11
12
RL11
12
PK/BN
12
12
13
RL12
13
YL/BL
13
13
14
RL13
14
GN/BL
14
14
September 2006
D-sub cnnctr. D-sub connctn. (female) 37-pin (male) 37-pin
iTNC Keyboard Unit
3 – 101
MC 42x(B) – X45
Connecting cable Id. Nr. 263 954-xx
TE – X2
D-sub connctn. (female) 37-pin
Assignment
D-sub cnnctr. (male) 37-pin
D-sub cnnctr. D-sub connctn. (female) 37-pin (male) 37-pin
15
RL14
15
YL
15
15
16
RL15
16
RD
16
16
17
RL16
17
GY
17
17
18
RL17
18
BL
18
18
19
RL18
19
PK
19
19
20
SL0
20
WH/GY
20
20
21
SL1
21
YL/GY
21
21
22
SL2
22
GN/RD
22
22
23
SL3
23
WH/PK
23
23
24
SL4
24
GY/GN
24
24
25
SL5
25
YL/BN
25
25
26
SL6
26
GY/BN
26
26
27
SL7
26
YL/BK
27
27
28
RL19
28
WH/YL
28
28
29
RL20
29
GY/BL
29
29
30
Do not assign
30
PK/BL
30
30
31
RL21
31
PK/RD
31
31
32
RL22
32
BN/BL
32
32
33
RL23
33
PK/GN
33
33
34
Spindle override (wiper)
34
BN
34
34
35
Feed rate override (wiper)
35
YL/PK
35
35
36
+5 V override potentiometer
36
VI
36
36
37
0 V override potentiometer
37
WH
37
37
Housing
External shield
Housing
External shield
Housing
Housing
X9: USB connection for touchpad
3 – 102
Pin layout USB connection (female) 4-pin
Assignment
1
+5 V
2
USBP–
3
USBP+
4
GND
HEIDENHAIN Technical Manual iTNC 530
3.25 Flat-Panel Display X3: Connection of screen soft keys
see “iTNC Keyboard Unit” on page 3 – 101
X49: BF 120 flatpanel display
Pin layout:
September 2006
MC 42x(B), X49
Connecting cable Id. Nr. 340 300-xx
D-sub connection (female) 62-pin
Assignment
D-sub cnnctr. (male) 62-pin
1
0V
1
2
CLK.P
3
HSYNC
BF 120, X2 D-sub cnnctr. (female) 62-pin
D-sub connctn. (male) 62-pin
GY/BK
1
1
2
BN/BK
2
2
3
GN/BK
3
3
4
BLANK
4
OR/BK
4
4
5
VSYNC
5
BL/BK
5
5
6
0V
6
GN/WH
6
6
7
R0
7
OR/WH
7
7
8
R1
8
BN/WH
8
8
9
R2
9
GY/WH
9
9
10
R3
10
BL/WH
10
10
11
0V
11
VI/WH
11
11
12
G0
12
VI/BN
12
12
13
G1
13
VI/GN
13
13
14
G2
14
VI/OR
14
14
15
G3
15
VI/BL
15
15
16
0V
16
RD/GY
16
16
17
B0
17
RD/BN
17
17
18
B1
18
YL/GY
18
18
19
B2
19
YL/BN
19
19
20
B3
20
YL/GN
20
20
21
0V
21
Free
21
21
22
0V
22
BK/GY
22
22
23
CLP.P
23
BK/BN
23
23
24
HSYNC
24
BK/GN
24
24
25
BLANK
25
BK/OR
25
25
26
VSYNC
26
BK/BL
26
26
27
0V
27
WH/GN
27
27
28
R0
28
WH/OR
28
28
29
R1
29
WH/BN
29
29
Flat-Panel Display
3 – 103
MC 42x(B), X49
Connecting cable Id. Nr. 340 300-xx
D-sub connection (female) 62-pin
Assignment
D-sub cnnctr. (male) 62-pin
BF 120, X2 D-sub cnnctr. (female) 62-pin
D-sub connctn. (male) 62-pin
30
R2
30
WH/GY
30
30
31
R3
31
WH/BL
31
31
32
0V
32
GY/VI
32
32
33
G0
33
BN/VI
33
33
34
G1
34
GN/VI
34
34
35
G2
35
OR/VI
35
35
36
G3
36
BL/VI
36
36
37
0V
37
GY/RD
37
37
38
B0
38
BN/RD
38
38
39
B1
39
GY/YL
39
39
40
B2
40
BN/YL
40
40
41
B3
41
GN/YL
41
41
42
0V
42
Free
42
42
43
DISP. LOW
43
RD/BL
43
43
44
DISP. LOW
44
BL/RD
44
44
45
DISP.ON
45
RD/OR
45
45
46
DISP.ON
46
OR/RD
46
46
47
C0
47
GN/RD
47
47
48
C1
48
RD/GN
48
48
49
C2
49
OR/YL
49
49
50
C3
50
YL/OR
50
50
51
C4
51
YL/BL
51
51
52
C5
52
BL/YL
52
52
53 to 56
Do not assign
53 to 56
Free
53 to 56
53 to 56
57 to 62
0V
57 to 62
Free
57 to 62
57 to 62
Housing
Housing
Housing
Housing
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).” Danger Only units that comply with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV)” may be connected.
3 – 104
HEIDENHAIN Technical Manual iTNC 530
X149: BF 150 flatpanel display
Pin layout: MC 42x(B), X149
September 2006
Connecting cable Id. Nr. 353 545-xx
BF 150, X2
D-sub Assignment D-sub connection cnnctr. (female) (male) 44-pin 44-pin
D-sub cnnctr. (female) 44-pin
D-sub connctn. (male) 44-pin
1
A7M
1
1
1
2
A6M
2
WH/BN
2
2
3
A5M
3
WH/GN
3
3
4
A4M
4
RD/GY
5
A3M
6
CLKM
6
7
A2M
7
8
A1M
8
9
A0M
9
10
LVDSGND
10
RD/OR
10
10
11
HWK_GND
11
OR/RD
11
11
12
HWK0
12
WH/BL
12
12
13
HWK1
13
BL/WH
13
13
14
HWK2
14
WH/GY
14
14
15
HWK3
15
GY/WH
15
15
16
A7P
16
17
A6P
17
18
A5P
18
GN/WH
18
18
19
A4P
19
GY/RD
19
19
20
A3P
20
20
21
CLKP
21
BL/RD
21
21
22
A2P
22
OR/WH
22
22
23
A1P
23
BN/RD
23
23
24
A0P
24
GN/RD
24
24
Flat-Panel Display
4
4
5
5
RD/BL
6
6
WH/OR
7
7
RD/BN
8
8
RD/GN
9
9
BN/WH
16
16
17
17
3 – 105
MC 42x(B), X149
Connecting cable Id. Nr. 353 545-xx
D-sub Assignment D-sub connection cnnctr. (female) (male) 44-pin 44-pin 25
Not assigned
to
BF 150, X2 D-sub cnnctr. (female) 44-pin
D-sub connctn. (male) 44-pin
25
25
to
to
30
Not assigned
30
30
31
LVDSGND
31
31
to
to
39
LVDSGND
39
39
40
Not assigned
to
to 44 Housing
Not assigned Housing
40
40
to
to
44
44
Housing
Housing
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).” Danger Only units that comply with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV)” may be connected.
3 – 106
HEIDENHAIN Technical Manual iTNC 530
3.26 BTS 1x0 Monitor/Keyboard Switch Unit Two monitors (BTS 110: 2 x BF 120, BTS 150: 2 x BF 150) and two TE keyboards can be connected to an MC 42x(B) with the BTS 1x0. The two monitors are always active. Switchover between the two keyboard units is realized by a 24 V switching input on the BTS 1x0. A jumper on the PCB is used to determine which potentiometer should be active. The jumper is on the upper PCB next to the ID plate. Jumper setting
Active potentiometers Always keyboard 1 (at X4)
Currently active keyboard
Note You cannot switch between the two touchpads on the TE 530 with the BTS 1x0. You must connect both touchpads to the MC 42x(B) (possibly via the USB hub). X1, X2, X4, X5 to X7: Monitor and keyboard connections
Refer to the Sections “TNC Operating Panel” and “Flat-Panel Display” for the pin layouts of the individual connections. Connection designation
Monitor/Keyboard
X1
Input BF 120 or BF 150
X2
TE input
X4
First TE output
X5
Second TE output
X6
First BF 120 or BF 150 output
X7
Second BF 120 or BF 150 output
Note The interface complies with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV).”
September 2006
BTS 1x0 Monitor/Keyboard Switch Unit
3 – 107
X3: Switching between keyboards
Depending on the signal at X3, one of the keyboards at X4 or X5 is activated: Signal at X3
X8: Power supply for BTS 1x0
Active keyboard
Terminal 1
Terminal 2
0V
0V
At X4
+24 V
0V
At X5
Power supply with double insulation in accordance with EN 61800-5-1. Pin layout: Connecting terminal
Assignment
1
+24 V
2
0V
Current consumption: Max. 100 mA.
3 – 108
HEIDENHAIN Technical Manual iTNC 530
3.27 USB Interface X141, X142
Pin layout: USB connection (female) 4-pin
Assignment
1
+5 V
2
USBP–
3
USBP+
4
GND
The USB touchpad of a TE 530B keyboard unit, for example, or a USB mouse must be connected to the X142 interface. A USB touchpad or USB mouse connected to X141 has no function. Note The interface complies with the requirements of EN 61800-5-1 for “protective extra-low voltage (PELV).” Danger Only units that comply with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV)” may be connected. USB hub
Connections on the USB hub (368 735-01): Connection designation Function X1
24 V power supply
X32
5-V output
X140
USB input (to the MC 42x(B))
X141
USB output 1
X142
USB output 2
X143
USB output 3
X144
USB output 4
Note The interfaces comply with the requirements of EN 61800-5-1 for “protective extra-low voltage (PELV).” Danger Only units that comply with the requirements of EN 61800-5-1 for ”protective extra-low voltage (PELV)” may be connected.
September 2006
USB Interface
3 – 109
3.28 Cable Specifications Device
Id. Nr.
Max. bending radius Max. bending radius (rigid configuration) (frequent flexing)
Cable diameter
Position 1 VPP
298 429-xx, 298 430-xx
≥ 20 mm
≥ 75 mm
ø 6 mm
Position 1 VPP
310 199-xx, 309 783-xx
≥ 40 mm
≥ 100 mm
ø 8 mm
Position EnDat
332 115-xx, 323 897-xx
≥ 40 mm
≥ 100 mm
ø 8 mm
Position EnDat
313 791-xx, 332 790-xx
≥ 20 mm
≥ 75 mm
ø 6 mm
Speed 1 VPP
289 440-xx, 336 376-xx
≥ 40 mm
≥ 100 mm
ø 8 mm
Speed EnDat
336 376-xx, 340 302-xx, 369 502-xx
≥ 40 mm
≥ 100 mm
ø 8 mm
Analog outputs
290 110-xx, 290 109-xx
≥ 40 mm
a
ø 7.3 mm
TS 220
274 543-xx
≥ 40 mm
≥ 100 mm
ø 8 mm
SE 640, SE 540
310 197-xx, 517 518-xx
≥ 40 mm, ≥ 10 mm
≥ 100 mm, ≥ 50 mm
ø 8 mm ø 4.5 mm
TT 130
335 332-xx
≥ 40 mm
≥ 100 mm
ø 8 mm
HRA 110
270 909-xx
≥ 20 mm
≥ 75 mm
ø 6 mm
HR 130, HR 410 (extension)
281 429-xx
≥ 20 mm
a
ø 5.6 mm
HR 4xx (extension)
296 466-xx
≥ 20 mm
a
ø 5.6 mm
PLC inputs/outputs
263 954-xx, 244 005-xx
≥ 40 mm
a
ø 10 mm
PL 4xx
289 111-xx, 317 788-xx
≥ 40 mm
a
ø 10 mm
PL 510
371 045-xx, 371 046-xx
≥ 40 mm
≥ 100 mm
ø 8 mm
BF 120
340 300-xx
≥ 40 mm
≥ 120 mm
ø 9.7 mm
BF 120 (extension)
312 876-xx
≥ 70 mm
≥ 200 mm
ø 14.3 mm
BF 150
353 545-xx
≥ 65 mm
≥ 165 mm
ø 10.9 mm
TE 420, TE 530, MB 420
263 954-xx, 263 955-xx
≥ 40 mm
a
ø 10 mm
RS-232, 9-pin
355 484-xx
≥ 20 mm
≥ 75 mm
ø 6 mm
RS-232, 9-pin (VL)
366 964-xx
≥ 20 mm
≥ 75 mm
ø 6 mm
RS-232, 25-pin
365 725-xx
≥ 40 mm
≥ 100 mm
ø 7.1 mm
RS-232, 25-pin (VL)
274 545-xx
≥ 20 mm
≥ 75 mm
ø 6 mm
RS-422
355 484-xx
≥ 20 mm
≥ 75 mm
ø 6 mm
USB
354 770-xx
≥ 20 mm
≥ 70 mm
ø 4.5 mm
USB (with hub)
365 499-xx
Cable such as 354 770-xx, hub: ø ~ 20 mm, length ~ 115 mm
a. Somewhat resistant to frequent flexing and torsion 3 – 110
HEIDENHAIN Technical Manual iTNC 530
3.29 Dimensions Note All dimensions are in millimeters [mm]. 3.29.1 MC 422B / 5 Position Encoder Inputs and CC 422 with 6 Control Loops
September 2006
Dimensions
3 – 111
456+5
3.29.2 MC 422B / 10 Position Encoder Inputs and CC 422 with 10 or 12 Control Loops
3 – 112
HEIDENHAIN Technical Manual iTNC 530
3.29.3 MC 420 and CC 422 with 6 Control Loops
September 2006
Dimensions
3 – 113
3.29.4 Dimensions for MC 422B/CC 424 with 6 Control Loops
3 – 114
HEIDENHAIN Technical Manual iTNC 530
3.29.5 Dimensions for MC 422B/CC 424 with 8 Control Loops
September 2006
Dimensions
3 – 115
3.29.6 Dimensions for MC 422B/CC 424 with 10 Control Loops
3 – 116
HEIDENHAIN Technical Manual iTNC 530
3.29.7 Dimensions for MC 422B/CC 424 with 12 and 14 Control Loops
September 2006
Dimensions
3 – 117
3.29.8 UV 105
3 – 118
HEIDENHAIN Technical Manual iTNC 530
3.29.9 TE 420 Weight: 2.4 kg
F: Front panel opening M: Mounting surface
September 2006
Dimensions
3 – 119
3.29.10 TE 520B / TE 530 / TE 530B Weight : approx. 2.4 kg
F: Front panel opening M: Mounting surface
3 – 120
HEIDENHAIN Technical Manual iTNC 530
3.29.11 MB 420 Weight: 0.9 kg
F: Front panel opening M: Mounting surface
September 2006
Dimensions
3 – 121
3.29.12 BF 120 Weight: 3 kg
F: Front panel opening M: Mounting surface
3 – 122
HEIDENHAIN Technical Manual iTNC 530
3.29.13 BF 150 Weight: 3 kg
F: Front panel opening M: Mounting surface
September 2006
Dimensions
3 – 123
3.29.14 BTS 120/BTS 150
3 – 124
HEIDENHAIN Technical Manual iTNC 530
3.29.15 PL 4xxB Weight: 1.5 kg
I: PLC inputs O: PLC outputs
September 2006
Dimensions
3 – 125
3.29.16 PL 510 Weight: 1.0 kg
3 – 126
HEIDENHAIN Technical Manual iTNC 530
3.29.17 Adapter Block for the Data Interface RS-232-C/V.24 adapter block and RS-422/V.11 adapter block
September 2006
Dimensions
3 – 127
38+1
3.29.18 USB Hub
1
156+1 181.5±0.5
60
10.5 ¬ 3.5 5
140
118.5+0.5
0
3 – 128
171±0.2
5.25 0
120±0.2 130±0.2
HEIDENHAIN Technical Manual iTNC 530
3.29.19 Line-Drop Compensator Line-drop compensator for encoders with EnDat interface
34
64
12.5
29
46
58
¬5
¬9
36
20
*) 32
15
127
*) KTY
September 2006
Dimensions
3 – 129
3.29.20 Handwheels HR 130
Weight : approx. 0.7 kg
e
C
¬ 10 0.01 0.02 e
0 36 1.5
3x M3 x 5
A
B
19.5 +10
3 – 130
HR 13x: ¬ 4.5 HR 150: ¬ 6
HEIDENHAIN Technical Manual iTNC 530
HR 150
Weight : approx. 0.7 kg
e
C
¬ 10 0.01 0.02 e
0 36 1.5
3x M3 x 5
A
B
19.5 +10
September 2006
HR 13x: ¬ 4.5 HR 150: ¬ 6
Dimensions
3 – 131
HR 410
3 – 132
HEIDENHAIN Technical Manual iTNC 530
71 132
76
2
52
HR 420
278 327
105
Mount for HR 420
110
39
55
M5
93
56
2
6
¬7
112 136
September 2006
Dimensions
3 – 133
Adapter cables
M5
64
14
23
Ø 36
¬ 55
32x15
38
Mounting opening for wall thickness S ≤ 4
4
Mounting opening for wall thickness S > 4
19 44
¬ 34
44
32
M4
¬ 5.5
3 – 134
S
¬ 37
S
HEIDENHAIN Technical Manual iTNC 530
HRA 110
September 2006
Weight : approx. 1.5 kg
Dimensions
3 – 135
Control knob for HR 130 and HR 150
3 – 136
HEIDENHAIN Technical Manual iTNC 530
3.29.21 Touch Probe Systems TT 130
September 2006
Dimensions
3 – 137
Adapter cable for TT and TS
Mounting coupling for quick connection
Mounting coupling for HEIDENHAIN standard connector
3 – 138
HEIDENHAIN Technical Manual iTNC 530
TS 220
Adapter cable for TS 120/TS 220
September 2006
Dimensions
3 – 139
SE 640 transmitterreceiver unit
3 – 140
HEIDENHAIN Technical Manual iTNC 530
SE 540 transmitterreceiver unit
¬ 17.75 +0.1 0
X
0 ¬ 17.7 0.2
H7 f7 e
12 4.6
¬ 18
8
1.5x60°
10
43
M4
M6 ¬8 110
22
66
R5
.8°
A L2
¬5
L1
À
20.7 30
A
September 2006
5
11 14
10
X
Dimensions
3 – 141
8.5
TS 440
6.4
63
41
M12 x 0.5
¬ 32.2
¬ 54.3
¬ 49
3 – 142
HEIDENHAIN Technical Manual iTNC 530
TS 640
Ø 72
29.2
41.2
116.2
Ø 60
Ø 25.2
September 2006
Dimensions
3 – 143
✎
3 – 144
HEIDENHAIN Technical Manual iTNC 530
3.30 Grounding Diagrams 3.30.1 Grounding Diagram for iTNC 530 with Modular Non-Regenerative HEIDENHAIN Inverter System
September 2006
3 – 145
3.30.2 Grounding Diagram for iTNC 530 with Modular Regenerative HEIDENHAIN Inverter System
September 2006
3 – 146
3.30.3 Grounding Diagram for iTNC 530 with UE 2xxB Non-Regenerative HEIDENHAIN Compact Inverter
September 2006
3 – 147
3.30.4 Grounding Diagram for iTNC 530 with UR 2xx Regenerative HEIDENHAIN Compact Inverter
September 2006
3 – 148
3.31 Basic Circuit Diagrams 3.31.1 Availability You can find the current basic circuit diagrams in the download area of the HEIDENHAIN FileBase on the Internet under http://filebase.heidenhain.de. For this area you need access rights that you can request via e-mail.
September 2006
3 – 149
3.32 Cable Overviews 3.32.1 Cable Overview for iTNC 530 – Basic Configuration
Basic configuration
15-pin female connector 315 650-04
TE 535 P 547 577-xx
15-pin male connector 315 650-03
20m 40m 1) BF 150 353 522-xx
290 110-xx
40m
MB 420 293 757-xx
TE 520 B 535 835-xx TE 530 B 519 441-xx
Housing must be mounted 290 109-xx 12.04.2006
Terminal box 251 249 01
263 954-xx
37-pin male connector 315 650-07
USB touchpad TE 530 354 770-xx: 12m 365 499-xx: 36m Included with visual display unit
20m
VL: Extension cable for separation points with connecting cable for extending existing connecting cable
263 954-xx
244 005-xx VL 263 955-xx
244 005-xx
9m
298 429-xx 298 430-xx
VL 263 955-xx
353 545-xx
40m
263 954-xx
1 VPP
1) with 1x BTS 150 353 544-01
60m
310 199-xx 1 VPP
X149
X45
MC 420 MC 422 C MC 422 B CC 42x
X51 ... X62
2) Adapter connector for spindle, if necessary 544 703-01
X69
1 VPP
Axes + spindle: 60m
Axes: 60m
X46
VL 336 847-xx VL (max. 6m) 336 847-xx
Voltage controller 5 V 370 224-01 VL 340 302-xx
309 783-xx
X8 X9 1)
PLC I/0
X1 ... X5 X6, X35 ... X38 2) X201 ... X212 3)
Position inputs
2)
LC 481: 370 747-xx
1)
only MC 422 B only MC 422 C/B 3) only CC 424 B 2)
Axes: 15m
LC 18x: 369 124-xx LC 481: 369 129-xx
Voltage controller 5 V 368 210-01
289 440-xx
} max. 9m
LC
60m
RCN LC
RCN LC 18x: 369 124-xx LC 481: 369 129-xx
KTY
KTY
September 2006
LC 18x: 369 124-xx LC 481: 369 129-xx
11m
VL 323 897-xx
Voltage controller 5 V 383 951-01
3) 60m RCN
Voltage controller 5 V 370 225-01 VL 323 897-xx
509 667-xx
336 376-xx
15m
3) Without line-drop compensator RCN max. 11m
332 115-xx
336 376-xx
LC
LC 18x: 370 737-xx
289 440-xx
289 440-xx
1 VPP
Analog output
X41/X42
2)
Voltage controller 5 V 370 226-01
EnDat interface VL (max. 6m) 340 302-xx
X15 ... X20 X80 ... X83
Speed inputs
Axes + spindle: 30m
X141 X142*)
} max. 9m
LC
60m LB/LS
max. 9m 1 VPP
3 – 150
3.32.2 Cable Overview for iTNC 530 with HEIDENHAIN Inverter Systems
Compact inverter (non-regenerative)
3 Vac power supply
UE 2xx B
UM 111 UV 105
(if needed) (if needed)
Compact inverter (regenerative)
KDR 120
UR 2xx
CC 42x
250 479-07...-16
PW 210
250 479-07...-16 X79 X69
X51 ... X62 250 479-07...-16
325 817-xx
X79 X69
325 816-xx
15m
Line filter EPCOS 35 A
X69
3 Vac power supply
UVR UM 1xx UM 1xx ZKF 1xx UM 1xx UP 110 1xx D (if needed) Line filter EPCOS xx
250 479-07...-16
X51 ... X62 250 479-07 ... -16
250 479-07...-16
325 816-xx
X69
CC 42x
250 479-07 ... -16
X51 ... X62
X69
X69
Modular inverter (regenerative)
UV UM 1xx UM 1xx UM 1xx CC 42x 130 D
325 817-xx
325 816-xx
See Motors catalog for power cable to motor
Modular inverter (non-regenerative)
X79
325 817-xx
15m
See Motors catalog for power cable to motor
PW 210
CC 42x
250 479-07...-16
Three-phase ac capacitor 348 993-01
X51 ... X62
UM 111
(if needed)
Three-phase ac capacitor 348 993-01
X79
325 817-xx
X69
325 816-xx
X69
3 Vac power supply 15m
KDR 1xx
See Motors catalog for power cable to motor
September 2006
15m
See Motors catalog for power cable to motor
3 – 151
3.32.3 Cable Overview for iTNC 530 with SIMODRIVE or POWER DRIVE Inverter Systems
SIMODRIVE 611 D
UV 105
CC 42x
250 479-07 ... -16 X51 ... X60
UZ
349 211-01 X69
296 965-51
One-axis 324 955-xx
Interface card
Two-axis 359 002-xx
Interface card
250 479-07 ... -16
Protective PCB motor power cable
POWER DRIVE
UV 105
CC 42x
250 479-07 ... -16 X51 ... X60
250 479-07 ... -16
349 211-01 X69
motor power cable
September 2006
3 – 152
3.32.4 Cable Overview for iTNC 530 – Accessories
Accessories 100m
PL 550 32 x max.
VL: Extension cable for separation points with connecting cable for extending existing connecting cable
30m
PL 510 4 x max.
Connector housing must be mounted 12.04.2006 50m
296 467-xx 516 670-01
371 046-xx
312 879-01 3 m
296 466-xx 515 845-01
371 045-xx
HR 410 296 469-xx
296 687-xx
HR 420 375 239-xx
371 046-xx VL 281 429-xx
HR 130 254 040-xx 50m 270 909-xx
516 670-01
max. 20 m
3 inputs
HR 150 257 061-xx
HRA 110 261 097-02
X 147 X 47 (MC 422 B) (MC 420)
X121 (Option)
Ethernet
X23 X26
MC 420 MC 422 C MC 422 B 1) 2)
Adapter 9 pin 363 987-02
355 484-xx
X12
V.24/RS-232-C
PC
274 545-xx
Adapter 9 pin 363 987-01
only MC 422 B two-processor only MC 422 C/B X28
355 484-xx
V.11/RS 422
X128 1)
X13
366 964-xx
Adapter 25 pin 310 085-01
365 725-xx
X27 X127 1)
20m
X141 X142 2)
354 770-xx
6m
365 499-xx
USB hub 368 735-01
30m
SE 640 377 686-xx
310 197-xx 0.5m
TS 640 359 575-xx
517 376-xx 517 375-xx 335 332-xx
TS 220 293 488-xx
274 543-xx
50m 30m
September 2006
TT 130 296 537-xx TT 140 527 797-xx
SE 540 517 518-xx
TS 440 372 401-xx 50m
3 – 153
4 Machine Parameters 4.1 What is a Machine Parameter? ....................................................... 4 – 3 4.2 The “Machine Parameter Programming” Mode of Operation..... 4 – 4 4.3 Input and Output of Machine Parameters ..................................... 4 – 5 4.3.1 Input Format .............................................................................. 4 – 5 4.3.2 Activating the Machine Parameter List ...................................... 4 – 7 4.3.3 Changing the Input Values ......................................................... 4 – 8 4.4 List of Machine Parameters........................................................... 4 – 15 4.4.1 Encoders and Machines .......................................................... 4 – 15 4.4.2 Positioning ............................................................................... 4 – 22 4.4.3 Operation with Velocity Feedforward Control ......................... 4 – 29 4.4.4 Operation with Following Error (Servo Lag) ............................. 4 – 30 4.4.5 Integrated Speed and Current Control ..................................... 4 – 31 4.4.6 Spindle ..................................................................................... 4 – 41 4.4.7 Integral PLC ............................................................................. 4 – 45 4.4.8 Configuration of the Data Interface ......................................... 4 – 48 4.4.9 3-D Touch Probe ...................................................................... 4 – 50 4.4.10 Tool Measurement with TT ................................................... 4 – 53 4.4.11 Tapping .................................................................................. 4 – 57 4.4.12 Display and Operation ............................................................ 4 – 58 4.4.13 Colors ..................................................................................... 4 – 67 4.4.14 Machining and Program Run ................................................. 4 – 70 4.4.15 Hardware ............................................................................... 4 – 78 4.4.16 Second Spindle ...................................................................... 4 – 89
September 2006
4–1
4–2
HEIDENHAIN Technical Manual iTNC 530
4 Machine Parameters 4.1 What is a Machine Parameter? A contouring control must have access to specific data (e.g., traverse distances, acceleration) before it can execute its programmed instructions. You define these data in machine parameters. This list of machine parameters is divided into groups according to topic. Machine parameters
Topics
10 to 999
Encoders and machines
1000 to 1399
Positioning
1400 to 1699
Operation with velocity feedforward control
1700 to 1999
Operation with following error (servo lag)
2000 to 2999
Integrated speed and current control
3000 to 3999
Spindle
4000 to 4999
Integral PLC
5000 to 5999
Data interface
6000 to 6199
3-D touch probes
6500 to 6599
Tool measurement with triggering touch probe
7100 to 7199
Tapping
7200 to 7349
Programming and display
7350 to 7399
Colors
7400 to 7599
Machining and program run
7600 to 7699
Hardware
If there is more than one input value for a single function (e.g., a separate input for each axis), the parameter number is extended by indices. Index zero is always axis 1, index one is axis 2, etc. Example:
September 2006
MP1010.0-8
Rapid traverse
MP1010.0
Rapid traverse for axis 1
MP1010.1
Rapid traverse for axis 2
MP1010.2
Rapid traverse for axis 3
MP1010.3
Rapid traverse for axis 4
MP1010.4
Rapid traverse for axis 5
MP1010.5
Rapid traverse for axis 6
MP1010.6
Rapid traverse for axis 7
MP1010.7
Rapid traverse for axis 8
MP1010.8
Rapid traverse for axis 9
What is a Machine Parameter?
4–3
Enter into OEM.SYS, using the code word AXISNUMBER =, the number of axes being used, so that only the necessary index parameters are displayed. With other machine parameters you can activate specific functions. In this case, the parameters serve as on/off switches for these functions. These parameters are bit-encoded. Each bit is assigned either to an axis or a function.
4.2 The “Machine Parameter Programming” Mode of Operation 8
Enter the code number 95148 to access the Machine Parameter Programming mode of operation
Meaning of the soft keys in the Machine Parameter Programming mode of operation: Meaning of the soft keys: Switch between insertion and overwrite modes Jump to the beginning of the next word in the line Jump to the beginning of the previous word in the line Go back one page in the machine parameter file Go forward one page in the machine parameter file Jump to the beginning of the machine parameter file Jump to the end of the machine parameter file Search the machine parameter file for a text string Delete the character covered by the cursor Delete the word that the cursor is in Delete the line that the cursor is in Reinsert last deleted word or line Open the selection list for power modules Open the selection list for motors
4–4
HEIDENHAIN Technical Manual iTNC 530
4.3 Input and Output of Machine Parameters If the machine parameters have not yet been entered in a HEIDENHAIN contouring control (e.g., before commissioning), the iTNC presents the list of machine parameters after the memory test: 8
Enter the values for the machine parameters either by hand on the keyboard or download them through the data interface.
4.3.1 Input Format You can enter the input values either in decimal, binary (%) or hexadecimal ($) format. 8
Enter a number for each machine parameter.
The value represents, for example, the acceleration in mm/s2 or the analog voltage in V. You can add a comment to your entry by preceding it with a semicolon (;). Binary input (%) is the best format for machine parameters that activate individual functions bit-encoded. Example: Disabling soft keys for file types with MP7224.0 Bit 0
HEIDENHAIN programs
.H
Bit 1
ISO programs
.I
Bit 2
Tool tables
.T
Bit 3
Datum tables
.D
Bit 4
Pallet tables
.P
Bit 5
Text files
.A
Bit 6
Reserved
Bit 7
Point tables
.PNT
The soft keys for datum tables and text files are to be disabled: 0: Do not disable 1: Disable Input value for MP7224.0 =
September 2006
Binary
%00101000
Hexadecimal
$28
Decimal
40 (32+8)
Input and Output of Machine Parameters
4–5
Special case: Entering a formula
Currently only for MP1054.x (linear distance of one motor revolution) and for MP7530 within description tables for the kinematics). You can enter a formula instead of a fixed value. When entering the formula, you must pay attention to the case of the letters (whether they are small or capital). Functions are written small, variables are written in capitals. Functions: +
Addition
sin
Sine
–
Subtraction
cos
Cosine
·
Multiplication
tan
Tangent
/
Division
asin
Arc sine
log
Logarithm
acos
Arc cosine
log10
Logarithm to the base of 10
atan
Arc tangent
exp
Exponent
sqrt
Square root
()
Expressions in parentheses are solved
sqr
Square
^
Exponential calculation
Variable: ‘REF’ or ‘x’
Current position of the axis relative to the machine datum (resolution 0.0001 mm or °) ‘x’ was simply introduced as a short form
Example: MP1054.0:
4–6
x*0.1^6+15 (X in 0.0001 mm)
HEIDENHAIN Technical Manual iTNC 530
4.3.2 Activating the Machine Parameter List After you have entered all the values for the machine parameters: 8
Exit the machine parameter list by pressing the END key.
Missing or incorrect entries result in error messages from the control that prompt you to correct your entry. The following errors are displayed: Input error
Meaning
0
No MP number found
1
Invalid MP number
2
No separator (:) found
3
Input value incorrect
4
MP doubly defined
6
MP cannot be stored
If the control does not recognize any errors, it automatically exits the machine parameter editor and is ready for operation. If you do not make any entries in the machine parameter list during initial commissioning and exit the editor with the END key, the iTNC generates a standard machine parameter list (MP NAME). In this list the iTNC is defined as a programming station with the HEIDENHAIN standard colors. In all other machine parameters a default value is entered. You can enter more than one machine parameter list in the iTNC: 8
September 2006
Select the lists with the PGM MGT key and the SELECT soft key. The last selected machine parameter list becomes active when you exit the machine parameter editor.
Input and Output of Machine Parameters
4–7
4.3.3 Changing the Input Values A machine parameter list can be changed either with the machine parameter editor or directly through the PLC. The ”List of Machine Parameters” includes the following symbols:
Manual input
Symbol
Change by / Reaction
CN123
The MP is also accessible through the code number 123.
PLC
The MP can be changed via the PLC; it can also be changed in a running NC program during a strobe output.
RUN
The MP can also be changed while an NC program is running.
RESET
Changing the MP results in a reset.
REF
The axis must be moved over the reference mark again.
8
Call the machine parameter editor through the MOD function ”code number”: • By entering the code number 95148, you gain access to the complete list of machine parameters. • By entering the code number 123, you gain access to a subset of machine parameters. This subset can be changed by the user (see User’s Manual). Machine parameters that can be accessed through the code number 123 are indicated in the list with the symbol CN123.
8
User parameters
Protecting the machine parameter list
To exit the machine parameter editor, press the END key.
You can access some machine parameters without first entering a code number. 8
In MP7330.x, define up to 16 machine parameters and define the associated dialog in MP7340.x. The dialog is shown whenever the USER PARAMETERS soft key is pressed (up to 37 characters).
8
Select the MOD function USER PARAMETER.
To protect the current machine parameter list from being edited through the code number 95148: 8
In OEM.SYS, define a new code number in the entry MPPASSWORD = for editing the machine parameter list. Then it is no longer possible to edit through the code number 95148.
To protect individual machine parameters against editing: 8
4–8
In the MPLOCKFILE = entry in OEM.SYS, enter the path of a machineparameter subfile. Then it is only possible to edit those machine parameters that have no value assigned in this file. If there is a difference between the current MP value and the MP value in this subfile, the control displays an error message and a window offering the value from the subfile for your acceptance.
HEIDENHAIN Technical Manual iTNC 530
Overwrite machine parameters
Machine parameters can be overwritten by the PLC or from an NC macro. In the Program run, full sequence, Program run, single block and Positioning with manual data input operating modes, machine parameters can be overwritten only when the drives are stationary, and not during a movement. Warning In the Manual and Electronic Handwheel operating modes machine parameters should not be overwritten during a movement, since this might result in critical conditions.
Changing the input values via PLC
You can also change the machine parameters through the PLC. The following modules are available for this purpose Module 9031 Overwrite machine parameter Module 9032 Read machine parameter Module 9310 Read the machine parameter from the run-time memory Module 9033 Select machine parameter file Module 9034 Load machine parameter subfile The machine parameters that you can change with Module 9031 or Module 9034 are indicated with PLC in the overview.
September 2006
Input and Output of Machine Parameters
4–9
Module 9031 Overwrite machine parameters With this module you can overwrite the value of the given machine parameter with a new value. The input value must be a natural number with the decimal point shifted by the number of possible decimal places. Example: MP910.0 = 100.12 [mm] Transfer value: 1001200 (4 decimal places) The value in the run-time memory is changed. The value from the editable machine parameter file does not change. The old value becomes valid again after the machine parameter file is edited and exited. For non-indexed machine parameters, zero must be transferred as the index. Once the NC program has started, the module operates only during the output of an M/S/T/Q strobe. Call only in a submit job. Call: PS PS PS CM PL
B/W/D/K B/W/D/K B/W/D 9031 B/W/D
0: No error 1: MP does not exist / is not changeable / is not changeable during a running program 2: MP value out of range 3: Error while saving (fatal error) 4: Call was not in a submit or spawn job 5: Call during running program without strobe.
Error recognition:
4 – 10
Marker
Value
Meaning
M4203
0
MP was overwritten
1
MP could not be overwritten
HEIDENHAIN Technical Manual iTNC 530
Module 9032 Read machine parameters With this module you can read the value of the given machine parameter from the active machine parameter file. The input value is transferred as a natural number with the decimal point shifted by the number of possible decimal places. Only the value from the editable machine parameter file is read, not any value modified in the run-time memory by PLC Module 9031. For non-indexed machine parameters, zero must be transferred as the index. Call only in a submit job. Call: PS PS CM PL
B/W/D/K B/W/D/K 9032 B/W/D
1: MP number does not exist 2: No separator (:) 3: MP value out of range 4: MP not found in file 5: No MP file found 6: Call was not in a submit or spawn job 7: MP is of the “string” type 8: No system memory
Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
MP was read
1
MP could not be read from the table
Input and Output of Machine Parameters
4 – 11
Module 9310 Read the machine parameter from the run-time memory Use this module to read the value of the given machine parameter from the run-time memory. The input value is transferred as a natural number with the decimal point shifted by the number of possible decimal places. Machine parameters whose contents exceed the 32-bit limit cannot be read. A value is read from the run-time memory. For non-indexed machine parameters, zero must be transferred as the index. Call: PS PS CM PL
B/W/D/K B/W/D/K 9310 B/W/D 1: MP number does not exist 3: MP outside value range 6: Call was not in a submit or spawn job 7: MP is of the “string” type 8: No system memory
Error recognition:
4 – 12
Marker
Value
Meaning
M4203
0
MP was read
1
Error code in W1022
W1022
20
Module was not called in a spawn job or submit job
HEIDENHAIN Technical Manual iTNC 530
Module 9033 Select machine parameter file With this module you can select a new machine parameter file. If machine parameter files that set off a reset were changed, the control system will restart. Warning The module does not take any existing safety problems into account when setting off a control reset (e.g., axes and spindle coasting to a stop). The file to be selected is checked; a faulty file is not selected. If file selection is successful, there is no return to the calling PLC program. The file name is transferred in a string that must contain the complete path, name and file extension. Further characters, even space characters, are not permitted. If the PLC program is created externally, ensure that lower-case letters are not used for the file name! Once the NC program has started, the module operates only during the output of an M/S/T/Q strobe. Call only in a submit job. Call: PS CM PL
September 2006
B/W/D/K 9033 Note: If a new file is selected, program execution ends here. B/W/D 0: No error. File was already selected. 1: String does not contain a valid file name. 2: File not found 3: File is faulty. 4: Incorrect string number transferred. 5: Call was not in a submit job. 6: Call during running program without strobe.
Input and Output of Machine Parameters
4 – 13
Machine parameter subfile
A machine parameter subfile can be activated via Module 9034, or from the NC program via FN17: SYSWRITE (also see page 9 – 24). Module 9034 Load a machine parameter subfile With this module you load the contents of the given machine parameter into the main memory. All MPs not listed in this file remain unchanged. The MP file to be selected is checked. A faulty file is not loaded. If the MP file contains parameters that require a system reset, the file is not loaded. The file name is transferred in a string that must contain the complete path, name and file extension. Further characters, even space characters, are not permitted. If the PLC program is created externally, ensure that lower-case letters are not used for the file name! Once the NC program has started, the module operates only during the output of an M/S/T/Q strobe. Call only in a submit job.
4 – 14
Call: PS
B/W/D/K
CM PL
9034 B/W/D
0 to 99 0: No error 1: String does not contain a valid file name, or the name (including the path) is too long. 2: File not found 3: File is faulty / contains reset parameters 4: Incorrect string number was transferred (0 to 3). 5: Call was not in a submit job. 6: Call during running program without strobe.
HEIDENHAIN Technical Manual iTNC 530
4.4 List of Machine Parameters 4.4.1 Encoders and Machines
MP
Function and input
Behavior/ SW vers.
Page
MP10
Active axes
PLC
6–3
Format: Input:
RUN
MP12
MP20
%xxxxxxxxxxxxxx Bits 0 to 13 correspond to axes 1 to 14 0: Axis not active 1: Axis active
Axis-specific demo operation for NC axes
PLC
Format: Input:
RUN
%xxxxxxxxxxxxxx Bits 0 to 13 correspond to axes 1 to 14 0: Demo operation not active 1: Demo operation active
Monitoring functions for the axes
PLC
Format: Input:
RUN
%xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Monitoring not active 1: Monitoring active
MP20.0
Absolute position of the distance-coded reference marks
MP20.1
Amplitude of encoder signals
MP20.2
Edge separation of encoder signals
MP21
Monitoring functions for the spindle
PLC
Format: Input:
RUN
%xx Bit 0 – Spindle 1 0: Monitoring not active 1: Monitoring active Bit 1 – Spindle 2 0: Monitoring not active 1: Monitoring active
MP21.0
Absolute position of the distance-coded reference marks
MP21.1
Amplitude of encoder signals
MP21.2
Edge separation of encoder signals
MP100
Designation of axes
PLC
Format: Input:
RUN
-wvucbazyxWVUCBAZYX Characters 1 to 9 from the right represent axes 1 to 9
MP100.0
Traverse range 1
MP100.1
Traverse range 2
MP100.2
Traverse range 3
September 2006
List of Machine Parameters
6 – 11
6 – 11
6 – 3, 6 – 27
4 – 15
MP
Function and input
Behavior/ SW vers.
Page
MP110.x
Assignment of position encoder inputs to the axes
RESET
6 – 14
REF
6 – 16, 6 – 275
RESET
6 – 14
REF
6 – 16, 6 – 278
Input:
MP111.x
0: No position encoder input 1 to 6: Position encoder inputs X1 to X6 35 to 38: Position encoder inputs X35 to X38 201 to 214: Position encoder inputs X201 to X214
Position encoder input for the spindle/spindles Input:
0: No position encoder input 1 to 6: Position encoder inputs X1 to X6 35 to 38: Position encoder inputs X35 to X38 201 to 214: Position encoder inputs X201 to X214
MP111.0
Position encoder input for the first spindle
MP111.1
Position encoder input for the second spindle
MP112.x
Assignment of speed encoder inputs to the axes Input:
MP113.x
0: No speed encoder input 15 to 20: Speed encoder inputs X15 to X20 80 to 85: Speed encoder inputs X80 to X85
Speed encoder for the spindle/spindles Input:
0: No speed encoder input 15 to 20: Speed encoder inputs X15 to X20 80 to 85: Speed encoder inputs X80 to X85
MP113.0
Speed encoder for the first spindle
MP113.1
Speed encoder for the second spindle
4 – 16
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP115.0
Position encoder input 1 VPP or 11 µAPP
RESET
6–9
RESET
7–5
Format: Input:
MP115.1
Reserved Format: Input:
MP115.2
%xxxxxxxxxxx Enter %00000000000
Only CC 424: Input frequency of the position encoder inputs Format: Input:
September 2006
%xxxxxxxxxx 340 420-08, Bit 0 to bit 9: Linear encoder inputs X201 to X210 340 422-02, Bit 10: No function 340 480-02 0: 1 VPP 1: 11 µAPP
Only CC 424: Reserved Format: Input:
MP116.2
%xxxxxxxxxxx Bit 0 to bit 5: Position encoder inputs X1 to X6 Bit 6 to bit 9: Position encoder inputs X35 to X38 Bit 10: No function With 1 VPP: 0: 33 kHz 1: 350 kHz With 11 µAPP: 0: 33 kHz 1: 150 kHz
Only CC 424: Position encoder input 1 VPP or 11 µAPP Format: Input:
MP116.1
%xxxxxxxxxxx Enter %00000000000
Input frequency of position encoder inputs Format: Input:
MP116.0
%xxxxxxxxxxx Bit 0 to bit 5: Position encoder inputs X1 to X6 Bit 6 to bit 9: Position encoder inputs X35 to X38 Bit 10: No function 0: 1 VPP 1: 11 µAPP
%xxxxxxxxxxx Bit 0 to bit 9: Linear encoder inputs X201 to X210 Bit 10: No function With 1 VPP: 0: 33 kHz 1: 350 kHz With 11 µAPP: 0: 33 kHz 1: 150 kHz
List of Machine Parameters
4 – 17
MP
Function and input
Behavior/ SW vers.
Page
MP120.x
Nominal speed command outputs of the axes
RESET
6 – 14
RESET
6 – 16
Input:
MP121.0
Nominal speed command output of the first spindle Input:
MP121.1
MP131.x
0: No servo-controlled axis 1 to 6: Analog outputs 1 to 6 at terminal X8 7 to 12: Analog outputs 7 to 13 at terminal X9 51 to 62: Digital output X51 to X62
Nominal speed command output of the second spindle Input:
MP130.x
0: No servo-controlled axis 1 to 6: Analog outputs 1 to 6 at terminal X8 7 to 12: Analog outputs 7 to 12 at terminal X9 51 to 62: Digital output X51 to X62
RESET
0: No servo-controlled axis 1 to 6: Analog outputs 1 to 6 at terminal X8 7 to 12: Analog outputs 7 to 13 at terminal X9 51 to 62: Digital output X51 to X62
Y index of the machine parameters MP2xxx.y for the axes PLC Input: 0 to 12
RUN
Y index of the machine parameters MP2xxx.y for the spindle(s) in operating mode 0
PLC
6 – 14 6 – 16
RUN
Input: 0 to 12 MP131.0
Index for the first spindle
MP131.1
Index for the second spindle
MP132.x
Y index of the machine parameters MP2xxx.y for the spindle(s) in operating mode 1
PLC
6 – 16
RUN
Input: 0 to 12 MP132.0
Index for the first spindle
MP132.1
Index for the second spindle
MP210
Counting direction of position encoder output signals Format: Input:
4 – 18
REF
6 – 10
%xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Positive 1: Negative
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP331.x
Distance for the number of signal periods in MP332
PLC
6–8
Input:
RUN
0.0001 to +1.797693135E+308 [mm] or [°]
REF MP332.x
Number of signal periods for the distance in MP331
PLC
Input:
RUN
1 to +1.797693135E+308
6–8
REF MP334.x
Nominal increment between two fixed reference marks on PLC encoders with distance-coded reference marks RUN Input: 1 to 65 535 REF 0: 1 000
6–8
MP340.x
Interpolation factor for external interpolation
RESET
6–8
Assignment of axis keys IV and V
PLC
6–4
Input:
RUN
Input: MP410
0 to 99 0 = 1: No external interpolation Axis designation XYZABCUVWxyzabcuvw–
MP410.3
Axis key IV
MP410.4
Axis key V
MP420.x
Hirth coupling
PLC
Input:
RUN
0: No Hirth coupling 1: Hirth coupling
MP430.x
Prescribed increment for Hirth coupling 0.0000 to 30.0000 [°]
RUN
MP709.x
Time constant for backlash compensation
PLC
Input:
RUN
Input:
1 to 1000 [ms]
PLC
MP710.x
Backlash compensation
MP711.x
Height of peaks during circular movement (only analog)
PLC
Input:
RUN
Input:
–1.0000 to +1.0000 [mm] or [°] –1.0000 to +1.0000 [mm] (digital: 0)
MP712.x
Compensation value per control loop cycle time
MP715.x
Height of peaks during circular movement (only analog) with M105
Input:
Input:
0.000 000 to 99.999 999 [mm] (digital: 0)
PLC
PLC
6 – 38 6 – 38 6 – 50 6 – 50
RUN PLC
6 – 50
RUN
–1.0000 to +1.0000 [mm] (digital: 0)
Compensation value per control loop cycle time with M105 PLC
MP720.x
Linear axis error compensation
PLC
Input:
RUN
September 2006
8 – 202
RUN
MP716.x
Input:
8 – 202
0.000 000 to 99.999 999 [mm] (digital: 0) –1.000 to +1.000 [mm/m]
List of Machine Parameters
6 – 50
RUN 6 – 40
4 – 19
MP
Function and input
Behavior/ SW vers.
Page
MP730
Selection of linear/nonlinear axis error compensation
PLC
Format: Input:
RUN
6 – 40, 6 – 46
%xxxxxxxxxxxxxx Bits 0 to 3 represent axes 1 to 14: 0: Linear axis error compensation 1: Nonlinear axis error compensation
MP750.x
Reversal error
MP752.x
Compensation time for reversal error
PLC
Input:
RUN
Input:
MP810.x
MP812
MP855.x
MP860.x
4 – 20
–1.0000 to +1.0000 [mm] or [°]
6 – 39
RUN
0 to 1000 [ms]
Display mode for rotary axes and PLC auxiliary axes
PLC
Input:
RUN
0.0000 to 99 999.9999 [°] 0: Display +/–99 999.9999 1: Modulo value for display
6 – 39 8–5
REF
Activate software limit switches for tilting axes with modulo display, M94 and encoders with EnDat interface
RESET
8–5
Synchronized axes
PLC
6 – 134
Input:
RUN
Format: Input:
MP850.x
PLC
%xxxxxxxxxxxxxx Bits 0 to 3 represent axes 1 to 14: 0: Software limit switch not active 1: Software limit switch active 0: Master axis 1: Slave axis to axis 1 2: Slave axis to axis 2 3: Slave axis to axis 3 4: Slave axis to axis 4 5: Slave axis to axis 5 6: Slave axis to axis 6 7: Slave axis to axis 7 8: Slave axis to axis 8 9: Slave axis to axis 9
Synchronization monitoring
PLC
Input:
RUN
0 to 100.0000 [mm] 0: Monitoring not active
Datum for synchronous control
PLC
Input:
RUN
0: Datum at position after switch-on 1: Datum at reference marks 2: Axis is torque slave axis
6 – 136
6 – 136, 6 – 141
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP910.x
Positive software limit switches, traverse range 1 (default setting after power on)
PLC
6 – 24
Input: MP911.x
RUN
–99 999.9999 to +99 999.9999 [mm] or [°]
Positive software limit switches, traverse range 2
PLC
Input:
RUN
–99 999.9999 to +99 999.9999 [mm] or [°]
6 – 24
MP912.x
Positive software limit switches, traverse range 3
PLC
Input:
RUN
MP920.x
Negative software limit switches, traverse range 1 (default PLC setting after power on) RUN Input: –99 999.9999 to +99 999.9999 [mm] or [°]
6 – 24
MP921.x
Negative software limit switches, traverse range 2
PLC
6 – 24
Input:
RUN
–99 999.9999 to +99 999.9999 [mm] or [°]
–99 999.9999 to +99 999.9999 [mm] or [°]
MP922.x
Negative software limit switches, traverse range 3
MP950.x
Datum for positioning blocks with M92 for axes 1 to 9
PLC
Input:
RUN
Input:
–99 999.9999 to +99 999.9999 [mm] or [°] –99 999.9999 to +99 999.9999 [mm] or [°] Values with respect to the machine datum
PLC
6 – 24
6 – 24
RUN 8 – 37
MP951.x
Simulated tool-change position for TOOL CALL during mid- PLC program startup (block scan) RUN Input: –99 999.9999 to +99 999.9999 [mm] or [°]
8 – 51
MP960.x
Machine datum
6 – 150, 8 – 37
Input:
September 2006
PLC
–1.79769313486E+308 to RUN +1.79769313486E+308 [mm] or [°] REF Values with respect to the scale reference point
List of Machine Parameters
4 – 21
4.4.2 Positioning
MP
Function and input
Behavior/ SW vers.
Page
MP1010.x
Rapid traverse
PLC
6 – 194
Input:
RUN
MP1011
Limit of rapid traverse on the path
340 420-05
Input:
PLC
10 to 300 000 [mm/min or °/min] 10 to 300 000 [mm/min or °/min]
6 – 194
RUN MP1020.x
Manual feed
MP1030.x
Positioning window
PLC
Input:
RUN
Input:
MP1040
MP1054.x
MP1060.x
0.0001 to 2.0000 [mm]
6 – 245 6 – 10
%xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Positive 1: Negative PLC
Input:
RUN
1.000 to 9.000 [V] Digital axes: without function Input: 1
Distance of one motor revolution [mm or °]
PLC
Input:
RUN
Analog axes: Without function Digital axes: Entry of a formula possible, see page 4 – 6
PLC
Acceleration 0.001 to 100.000
[m/s2
or
1000°/s2]
or
1000°/s2]
Limitation of the path acceleration Input:
6 – 194
RUN
Analog axes: Analog voltage at rapid traverse
Input: MP1061
10 to 300 000 [mm/min]
Analog axes: Polarity of nominal value voltage Digital axes: Algebraic sign of the nominal speed value Format: Input:
MP1050.x
PLC
0.001 to 100.000
[m/s2
6 – 194
6 – 244
6 – 164
RUN 340 420-05
6 – 164
PLC RUN
MP1070
Radial acceleration Input:
MP1080.x
4 – 22
PLC 2
2
0.001 to 100.000 [m/s or 1000°/s ]
RUN
Analog axes: Integral factor for offset adjustment
PLC
Input:
RUN
Enter 0 to 65 535 Digital axes: No function Input: 0
6 – 235 6 – 234
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
MP1086.x
Maximum permissible jerk during single-axis movements at 340 420-02 rapid traverse for the operating modes Program Run Full PLC Sequence, Program Run Single Block, and Positioning with RUN Manual Data Input Input:
MP1087.x
MP1090
RUN
Maximum permissible axis-specific jerk for Pass Over Reference Point mode
PLC
3
3
0.1 to 1000.0 [m/s or 1000°/s ]
MP1090.0
With machining feed rate
MP1090.1
Beginning with feed rate from MP1092
MP1092
Feed rate threshold from which MP1090.1 becomes effective Input:
MP1095
6 – 164
RUN PLC
6 – 164
RUN
PLC
6 – 164
RUN
0: HSC filter inactive 0.1 to 166.0: Cutoff frequency for HSC filter
As of 6 – 181 340 490-01, 340 492-01 only via MPMODE = 340422 in OEM.SYS
Nominal position value filter
PLC
Input:
RUN
0: Single filter 1: Double filter
In the Program Run Full Sequence, Program Run Single Block, and Positioning With Manual Data Input operating modes
MP1095.1
In the Manual, Handwheel, Jog Increment and Pass Over Reference Point operating modes
MP1096
Tolerance for contour transitions at corners
PLC
Input:
RUN
0: No nominal position value filter 0.001 to 3.000 [mm]
MP1096.0
With machining feed rate
MP1096.1
With rapid traverse
List of Machine Parameters
6 – 181
As of 340 490-01, 340 492-01 only via MPMODE = 340422 in OEM.SYS
MP1095.0
September 2006
6 – 164
10 to 300 000 [mm/min]
HSC filter Input:
6 – 164
0.1 to 1000.0 [m/s3 or 1000°/s3]
Maximum permissible jerk on the tool path Input:
MP1094
PLC
0.1 to 1000.0 [m/s3 or 1000°/s3]
Input:
Page
0: Function inactive 0.1 to 1000.0 [m/s3 or 1000°/s3]
Maximum permissible axis-specific jerk for Manual mode Input:
MP1089.x
Behavior/ SW vers.
6 – 182, 6 – 236
As of 340 490-01, 340 492-01 only via MPMODE = 340422 in OEM.SYS
4 – 23
MP
Function and input
MP1097.x
Maximum permissible axis-specific jerk (single/HSC filter) Input:
3
3
0.1 to 1000.0 [m/s or 1000°/s ]
Behavior/ SW vers.
Page
PLC
6 – 182
RUN As of 340 490-01, 340 492-01 only via MPMODE = 340422 in OEM.SYS
MP1098.x
Maximum permissible axis-specific jerk (double/HSC filter) PLC Input:
3
3
0.1 to 1000.0 [m/s or 1000°/s ]
6 – 182
RUN As of 340 490-01, 340 492-01 only via MPMODE = 340422 in OEM.SYS
MP1099
Minimum filter order
PLC
Input:
RUN
MP1099.0
Minimum filter configuration for single filter (MP1095 = 0)
MP1099.1
0 to 20
6 – 182
As of Minimum filter configuration for double filter (MP1095 = 1) 340 490-01, 340 492-01 only via MPMODE = 340422 in OEM.SYS
MP1110.x
Standstill monitoring
MP1120.x
Standstill monitoring when determining the field angle
Input: Input:
PLC
0.0010 to 30.0000 [mm]
6 – 244
RUN
0.0000 to 300.0000 [mm] or [°]
340 422-03, 6 – 331 340 480-03 PLC RUN
MP1140.x
MP1144.x
4 – 24
Threshold above which the motion monitoring functions
PLC
Input:
RUN
Analog axes: 0.030 to 10.000 [V] Digital axes: 0.030 to 10.000 [1000 min] Recommended: 0.030 [1000 min]
Motion monitor for position and speed
PLC
Input:
RUN
Analog axes: Without function Digital axes: 0 to 99 999.999 [mm] 0: No monitoring
6 – 244
6 – 244
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP1146.x
Difference between the position at shutdown and the position read in via the EnDat interface
340 420-05
6 – 242
Input:
0.0000 to 300.0000 [mm] or [°] 0: No difference permitted
PLC RUN
MP1150.0
Delay time for deleting the nominal velocity value with the PLC erasable error message EXCESSIVE SERVO LAG IN RUN Input: 0 to 65.535 [s] Recommended: 0
MP1150.1
Time period for which the monitoring function is to remain off after the fast PLC input defined in MP4130.0 is set. Input:
MP1150.2
MP1200
MP1201
0 to 65.535 [s] 0: Monitoring functions on Recommended: 0.2 to 0.5
Minimum time period for which the monitoring functions are to remain effective after expiration of the time from MP1150.1. Input:
MP1160
0 to 65.535 [s]
Only CC 424: LIFTOFF at powerfail
340 490-02
Input:
PLC
0.0000 to 1.0000 [mm] Default: 0.0000
340 490-01
Input:
PLC
0: Single filter 1: Double filter 2: HSC filter 3: Advanced HSC filter
340 490-01
Input:
PLC 340 490-01
Input:
PLC
MP1202.0 MP1202.1
Tolerance at corners for movements at machining feed rate RUN Tolerance at corners for movements at rapid traverse
MP1210
Limit frequency for single filter
340 490-01
Input:
PLC
September 2006
0: Filter is switched off 0.0 to 166.0 [Hz]
Limit frequency for double filter
340 490-01
Input:
PLC
0: Filter is switched off 0.0 to 166.0 [Hz]
List of Machine Parameters
6 – 166
RUN
Predefined tolerance for Cycle 32 0.0000 to 3.0000 [mm]
6 – 166
RUN
Nominal position value filter in manual operation 0: Single filter 1: Double filter
7 – 21
RUN
Selection of the nominal position value filter used
MP1202
MP1211
6 – 197, 6 – 239; 6 – 241
6 – 166
6 – 166
6 – 166
4 – 25
MP
Function and input
Behavior/ SW vers.
Page
MP1212
Limit frequency for HSC filter
340 490-01
6 – 166
Input:
PLC
MP1213
MP1222
Limit frequency for advanced HSC filter
340 490-01
Input:
PLC
0: Do not include the tolerance 1: Include the tolerance
340 490-01
6 – 166
PLC
0: Do not include the tolerance 1: Include the tolerance
340 490-01
6 – 166
PLC RUN
Max. permissible axis-specific jerk at corners for single filter 340 490-01 Entry:
6 – 166
RUN
Tolerance for curvature changes with advanced HSC filter (only effective if MP7684 bit 4 = 0) Entry:
MP1230.x
0: Filter is switched off 0.0 to 166.0 [Hz]
Tolerance for curvature changes with HSC filter (only effective if MP7684 bit 4 = 0) Entry:
MP1223
0: Filter is switched off 0.0 to 166.0 [Hz]
0.1 to 1000.0 [m/s³]
6 – 166
PLC RUN
MP1231.x
Max. permissible axis-specific jerk at corners for double filter Entry:
MP1232.x
0.1 to 1000.0 [m/s³]
340 490-01 PLC RUN
Max. permissible axis-specific jerk at corners for HSC filter 340 490-01 Entry:
0.1 to 1000.0 [m/s³]
6 – 166
6 – 166
PLC RUN
MP1233.x
Max. permissible axis-specific jerk at corners for advanced 340 490-01 HSC filter PLC Entry: 0.1 to 1000.0 [m/s³] RUN
6 – 166
MP1240.x
Max. permissible axis-specific jerk at curvature changes for 340 490-01 single filter PLC Entry: 0.1 to 1000.0 [m/s³] RUN
6 – 166
MP1241.x
Max. permissible axis-specific jerk at curvature changes for 340 490-01 double filter PLC Entry: 0.1 to 1000.0 [m/s³] RUN
6 – 166
MP1242.x
Max. permissible axis-specific jerk at curvature changes for 340 490-01 HSC filter PLC Entry: 0.1 to 1000.0 [m/s³] RUN
6 – 166
MP1243.x
Max. permissible axis-specific jerk at curvature changes for 340 490-01 advanced HSC filter PLC Entry: 0.1 to 1000.0 [m/s³] RUN
6 – 166
4 – 26
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
MP1250.x
Factor for axis-specific jerk at corners at rapid traverse (from 340 490-02 value in MP123x.x) PLC Input: 0.0000 to 30.0000 RUN 1: No change at rapid traverse
6 – 166
MP1262
Only CC 424: Filter order used for HSC filter
340 490-02
7 – 21
Input:
PLC
MP1263
MP1290
340 490-02
Input:
PLC
Only with option #40: Maximum angle tolerance for DCM (Dynamic Collision Monitoring) 0.0000° to 3.0000° 3: Default
Only with option #40: Manual oversize for DCM (Dynamic Collision Monitoring) Input:
MP1320
0 to 31 [filter order] 31: Default
0 to 1000 [mm] 0: Default
7 – 21
RUN 340 490-02
6 – 104
PLC RUN 340 490-02
6 – 104
PLC RUN
Direction for traversing the reference marks
PLC
Format: Input:
RUN
%xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Positive 1: Negative
Page
RUN
Only CC 424: Filter order used for advanced HSC filter
Input: MP1290
0 to 31 [filter order] 31: Default
Behavior/ SW vers.
6 – 150
MP1330.x
Velocity for traversing the reference marks
PLC
Input:
RUN
MP1331.x
Velocity for leaving the reference mark end position for axes PLC 1 to 9 (only for rotary encoders MP1350 = 2) RUN Input: 10 to 300 000 [mm/min]
6 – 150
MP1340.x
Sequence for traversing the reference marks
PLC
6 – 150
Input:
RUN
MP1350.x
0: No evaluation of reference marks 1 to 14: Axes 1 to 14
Sequence for finding the reference mark Input:
September 2006
80 to 300 000 [mm/min]
6 – 150
REF PLC
6 – 151
0: Linear encoder with distance-coded reference RUN marks (old routine) REF 1: Position encoder with one reference mark 2: Special type (length measurement with ROD) 3: Linear encoder with distance-coded reference marks (new routine) 4: Same as 3 except that two reference marks are evaluated 5: Encoder with EnDat interface 6: Reference pulse over fast PLC input
List of Machine Parameters
4 – 27
MP
Function and input
Behavior/ SW vers.
Page
MP1355
Double reference run
340 420-05
6 – 151
Format: Input:
PLC
MP1356.x
%xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Reference run as defined in MP1350.x 1: Double reference run
Distance between speed and position encoder for double reference run. Input:
–99 999.999 to +99 999.999 [mm] or [°]
RUN REF 340 420-05
6 – 151
PLC RUN REF
MP1357.x
W1032 for double reference run Input:
MP1360.x
MP1391
Input:
RUN
4 – 28
%xxxxxxxxxxxxxx
6 – 151
REF 340 490-01 PLC
6 – 51, 6 – 188
RUN
Velocity feedforward control Bits 0 to 13 represent axes 1 to 14 0: Inactive 1: Active
Acceleration feedforward Bits 0 to 13 represent axes 1 to 14 0: Inactive 1: Active
Velocity feedforward in the POSITIONING WITH MANUAL PLC DATA INPUT, PROGRAM RUN SINGLE BLOCK and RUN PROGRAM RUN FULL SEQUENCE operating modes Format: Input:
MP1396.x
0: No fast PLC input for reference pulse 1 to 5: Fast PLC input 1 to 5 (MP4130.x)
Velocity and acceleration feedforward control in the MANUAL and HANDWHEEL operating modes
Input:
MP1392
RUN PLC
Input:
MP1391.1
PLC
Fast PLC input for reference pulse
Format: MP1391.0
0: Reset W1032 if the reference run has been over the EnDat interface of the speed encoder 1: Reset W1032 if the reference mark was traversed with the position encoder
340 422-05, 6 – 151 340 480-05
6 – 185
%xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Operation with following error (lag) 1: Operation with velocity feedforward control
Feedback control with velocity semifeedforward
PLC
Input:
RUN
0.001 to 0.999 1: Velocity feedforward control
6 – 191
HEIDENHAIN Technical Manual iTNC 530
4.4.3 Operation with Velocity Feedforward Control
MP
Function and input
MP1410.x
Position monitoring for operation with velocity feedforward PLC control (erasable) RUN Input: 0.0010 to 30.0000 [mm] Recommended: 0.5 mm
6 – 241
MP1420.x
Position monitoring for operation with velocity feedforward PLC control (EMERGENCY STOP) RUN Input: 0.0010 to 30.0000 [mm] Recommended: 2 mm
6 – 241
MP1510.x
kV factor for velocity feedforward control
6 – 189
MP1511.x
Factor for static friction compensation
PLC
Input:
RUN
Input:
0.100 to 1 000.000 [(m/min)/mm] 0 to 16 777 215 [s]
Behavior/ SW vers.
PLC RUN
MP1512.x
Limitation of the amount of the static friction compensation PLC
MP1513.x
Feed-rate limitation for static friction compensation
PLC
Input:
RUN
Input:
MP1515.x
MP1521
MP1522
0 to 300 000 [mm/min]
kV factor for velocity feedforward control effective after M105 Input:
MP1516.x
0 to 16 777 215 [counting steps]
6 – 52 6 – 52
RUN
PLC
6 – 52 6 – 189
RUN
0.100 to 20.000 [(m/min)/mm]
kV factor for velocity semifeedforward control
PLC
Input:
RUN
0.100 to 20.000 [(m/min)/mm]
Transient response during acceleration and deceleration
PLC
Input:
RUN
1 to 255 [ms] 0: Function inactive
Feed-rate smoothing Input:
Page
0 to 60 [ms] 0: Function inactive
6 – 191 6 – 164
340 422-10, 6 – 165 340 480-10 PLC RUN
September 2006
List of Machine Parameters
4 – 29
4.4.4 Operation with Following Error (Servo Lag)
MP
Function and input
Behavior/ SW vers.
Page
MP1710.x
Position monitoring for operation with following error (erasable)
PLC
6 – 241
Input: MP1720.x
Position monitoring for operation with following error (EMERGENCY STOP) Input:
RUN
0.0000 to 300.0000 [mm] Recommended: 1.2 ⋅ following error PLC RUN
0.0000 to 300.0000 [mm] Recommended: 1.4 ⋅ following error
MP1810.x
kV factor for control with following error
PLC
Input:
RUN
MP1815.x
kV factor for control with following error effective after M105 Input:
0.100 to 20.000 [(m/min)/mm]
PLC
6 – 187
RUN
Multiplier for the kV factor
MP1830.x
Characteristic curve kink point
PLC
Input:
RUN
4 – 30
6 – 187
0.100 to 20.000 [(m/min)/mm]
MP1820.x
Input:
6 – 241
0.001 to 1.00000 0.000 to 100.000 [%]
PLC
6 – 196
RUN 6 – 196
HEIDENHAIN Technical Manual iTNC 530
4.4.5 Integrated Speed and Current Control
MP
Function and input
Behavior/ SW vers.
Page
MP2040
Axis groups (for drive enabling through X150/X151)
PLC
6 – 217
Format: Input:
%xxxxxxxxxxxxxx RUN 0: Axis not assigned (disabling only through I32) 1: Axis assigned
MP2040.0-2
Axis group 1 to 3
MP2040.3-7
Reserved, enter %00000000000000
MP2050
Functionality of drive enabling I32 (X42/33) Input:
MP2100.x
MP2150
0: Emergency stop for all axes, Module 9169 not effective 1: Emergency stop for all axes that are not excepted with Module 9169 2: I32 and Module 9169 have no function
Power module model Input:
6 – 217
PLC
6 – 319
Name of the selected power module (entered by RUN the iTNC)
Signal for powerfail
6 – 247
Input: 0: AC fail 1: Powerfail and AC fail 2: Reserved 3: Powerfail MP2160.x
Field weakening with synchronous motors
6 – 232
Input: 0: No voltage-protection module 1: Voltage-protection module present 2: Limited field weakening without voltageprotection module for EcoDyn motors MP2170
Waiting time between the switch-on of the drive and the drive’s standby signal Input:
MP2172
September 2006
6 – 217
0.001 to 4.999 [s] 0: 2 [s]
Delay of the SH1Bsignal (inverter enable) at internal emergency stop (e.g. standstill monitoring, PLC via error table...) Input: 0 to 6 [s] as an integer 0: 3 [s] Default
List of Machine Parameters
340 490-02
6 – 269
4 – 31
MP
Function and input
Behavior/ SW vers.
Page
MP2180.x
PWM frequency
CC 422: RESET
6 – 326
Input:
MP2182.x
4 – 32
PLC RUN 6 – 334
0 to 10 000 [V] HEIDENHAIN inverters: Non-regenerative: 565 V Regenerative: 650 V
Handling of status signals from HEIDENHAIN power supply 340 420-06 units Input:
MP2200.x
0: Cycle time = 1 / (2 ⋅ fPWM) 1: Cycle time = 1 / fPWM
DC link voltage UZ Input:
MP2195
CC 424: PLC, RUN
Only CC 424: Cycle time of current controller at double the 340 422-10, – fundamental PWM frequency 340 480-10 Input:
MP2190
0: fPWM = 5000 Hz 3200 to 3999: fPWM = 3333 Hz 4000 to 4999: fPWM = 4166 Hz (CC 424: 4000 Hz) 5000 to 5999: fPWM = 5000 Hz 6000 to 7999: fPWM = 6666 Hz 8000 to 9999: fPWM = 8333 Hz (CC 424: 8000 Hz) 10000: fPWM = 10000 Hz
6 – 265
Bit 0 – Status signals that are already active during control power-up. 0: Missing signals are ignored 1: Missing signals are evaluated Bit 1– ERR.UZ.GR signal 0: Error message is not suppressed 1: Error message is suppressed Bit 2 – ERR.TMP signal 0: Error message is not suppressed 1: Error message is suppressed Bit 3 – Reserved Bit 4 – ERR.IZ.GR signal 0: Error message is not suppressed 1: Error message is suppressed Bit 5 – RDY.PS signal 0: Error message is not suppressed 1: Error message is suppressed Bit 6 – ERR.ILEAK signal 0: Error message is not suppressed 1: Error message is suppressed Bit 7 – Reserved
Motor model
PLC
Input:
RUN
Name of the selected motor (entered by the iTNC)
6 – 319
HEIDENHAIN Technical Manual iTNC 530
04MPList.fm Seite 33 Donnerstag, 14. September 2006 2:45 14
MP
Function and input
Behavior/ SW vers.
Page
MP2202.x
Overwrite “Line count” from the motor table
340 420-05
6 – 319
Input:
PLC
MP2204.x
MP2206.x
340 420-05
Input:
RESET
*: Input from the motor table active +: Positive counting direction –: Negative counting direction
Overwrite “Type of encoder” from the motor table
340 420-05
6 – 319
6 – 319
*: Input from the motor table active RESET 0: No speed encoder (volts-per-hertz control mode) 1: Incremental rotary encoder with Z1 track 2: Absolute rotary encoder with EnDat interface (aligned) 3: Absolute linear encoder with EnDat interface 4: reserved 5: Absolute rotary encoder with EnDat interface (not aligned) 6: Incremental rotary encoder without Z1 track 7:Incremental rotary encoder with distancecoded reference marks (not aligned) 8: Incremental linear encoder with distancecoded reference marks (not aligned)
Only CC 424: Reduction of the nominal voltage (and, as a 340 490-01 result, the nominal magnetizing current) at the rpm for field weakening during idle running. Input:
September 2006
RUN
Overwrite “Counting direction” from the motor table
Input:
MP2210.x
*: Input from the motor table active 0: No speed encoder (volts-per-hertz control mode) 1 to 999 999
7 – 25
0 to 60 [%] 0 = Function inactive
List of Machine Parameters
4 – 33
MP
Function and input
Behavior/ SW vers.
Page
MP2220.x
Monitoring functions
PLC
6 – 228; 6 – 266, 6 – 278, 7 – 14
Format: Input:
%xxxxxxxxxxxxxxxx RUN Bit 0 – Monitoring the reference mark 0: Monitoring active 1: Monitoring inactive Bit 1 – Monitoring the direction of rotation 0: Monitoring active 1: Monitoring inactive Bit 2 – Power limit of spindle with ERR.IZ.GR (only for HEIDENHAIN inverters, except UE 2xx) 0: Power limit active 1: Power limit inactive (All HEIDENHAIN inverters except UE 2xx) Bit 3 – Switching off the controller when the motor brakes are activated 0: Suppress oscillations 1: Vibrations are allowed CC 422: Bit 4 to bit 8 reserved Bit 4 – Only CC 424: Monitoring for excessive temperature 0: Active 1: Inactive Bit 5 – Only CC 424: Monitoring for insufficient temperature 0: Active 1: Inactive Bit 6 – Reserved Bit 7– Only CC 424: Monitoring of encoder input frequency 0: Active 1: Inactive Bit 8 – Only CC 424: Adjust mechanical offset by gradually increasing the kV factor 0: Active 1: Inactive Bits 9 to 15: Reserved
MP2230.x
Factor for motor standstill current during test of motor brake Input:
MP2232.x
4 – 34
6 – 268
340 420-08
6 – 268
0.1 to 30.0 [⋅ motor standstill current] 0: No test of motor brakes, or motor without brake
Maximum permissible path during test of motor brakes Input:
340 420-08
0 to 10.0000 [mm] or [°]
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
MP2234.x
Internal triggering of the motor brakes via the PWM interface
340 422-06, 6 – 266 340 480-06
Format: Input:
PLC
MP2250.x
MP2252.x
%xx Bit 0 – 0: Signal is transmitted 1: Signal is not transmitted Bit 1– reserved
Page
RUN
Only CC 424: Determining the field angle without motor motion
340 422-03, 7 – 33 340 480-03
Input:
PLC
0: Same as input value 2 1: Reserved 2: Method 2 (brakes applied) 3: Method 3 (same as Method 2, but motor brake is not applied)
Only CC 424: Reserved Input:
Enter 0
RUN
340 422-03, 7 – 33 340 480-03 PLC RUN
MP2254.x
Determining the field angle Input:
340 420-09
0: Field angle is determined during operation; PLC soft key has no function (without plausibility test) RUN 1: Only CC 422: Field angle is determined via soft key; motor motion is permitted
6 – 331, 7 – 29
2: Only CC 424: Field angle is determined via soft key; motor motion is permitted (with plausibility test) 3: Only CC 424: Same as 2, but the drive must no longer be switched on via the PLC. The drive is 340 490-01 moved immediately! MP2256.x
Determined field angle Input:
340 422-03, 6 – 333, 340 480-03 7 – 38 0: Field angle does not need to be determined, or has not been determined PLC RUN
MP2257.x
Control or encoder identification for the field angle from MP2256.x Input:
MP2260.x
September 2006
0: Field angle does not need to be determined, or PLC has not been determined RUN
Only CC 424: “TRC – Torque Ripple Compensation” File name for the torque-ripple-compensation file Input:
340 422-03, 6 – 333, 340 480-03 7 – 38
xx_.TRC (generated in TNCopt) No entry: No compensation
List of Machine Parameters
340 490-02
7 – 23
PLC RUN
4 – 35
MP
Function and input
Behavior/ SW vers.
Page
MP2302.x
Reference value for I2t monitoring of motor
PLC
6 – 256
340 420-06
6 – 256
Input:
MP2304.x
Reference value for I2t monitoring of power module Input:
MP2308.x
MP2394.x
0 to 1000.000 0: Factor = 1 6 – 225
0.1 to 3000.000 [kW] 0: Braking power is not limited 6 – 228
0: No power limit 0.1 to 3000.000 [kW]
Maximum braking power during a power fail Input:
MP2396.x
6 – 262
Power limit Input:
PLC
6 – 228
PLC
6 – 222
PLC
6 – 222
Proportional factor of the speed controller
PLC
6 – 202
Input:
RUN
0.1 to 30 000.0 [Nm] 0: Torque is not limited
MP2420.x
Proportional factor of the current controller
MP2430.x
Integral factor of the current controller
Input: Input:
MP2510.x MP2512.x
0.00 to 9999.99 [V/A] 0.00 to 9999.99 [V/As] 0 to 1 000 000.000 [As]
Integral factor of the shaft speed controller
PLC
Input:
RUN
0 to 100 000 000 [A]
Limiting the integral-action component of the speed controller Input:
4 – 36
6 – 225
0.1 to 3000.000 [kW] 0: Braking power is not limited
Maximum torque Input:
MP2500.x
6 – 266
0.001 to 0.500 [s] 0: 0.200 s
Maximum braking power Input:
MP2392.x
340 420-06
Factor for utilization of motors Input:
MP2390.x
0 to 1000.000 [⋅ rated current of power module] PLC 0: I2t monitoring of power module switched off 1: Rated current of power module as reference value
Time between output of the braking signal BRK and switching off of the controller (overlap time) Input:
MP2312.x
0 to 1000.000 [⋅ rated current of motor] 0: I2t monitoring of motor switched off 1: Rated current of motor as reference value
PLC RUN
6 – 202 6 – 52, 6 – 208
0.000 to 30.000 [s] (realistic values: 0.1 to 2.0)
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP2520.x
Differential component of the speed controller
PLC
6 – 204
Input:
RUN
MP2530.x
PT2 element of the shaft speed controller (2nd-order delay) PLC Input:
MP2540.x MP2542.x MP2543.x MP2544.x MP2545.x MP2546.x MP2550.x MP2552.x MP2553.x MP2554.x MP2555.x MP2556.x MP2560.x
MP2560.x
0 to 1.0000 [As] 0 to 1.0000 [s]
RUN
Only CC 422: Band-rejection filter damping
PLC
Input:
RUN
0.0 to 18.0 [dB]
Only CC 424: Damping/phase increase for filter 1
PLC
Input:
RUN
0 to 99.0 [dB]
Only CC 424: Damping/phase increase for filter 2
PLC
Input:
RUN
0 to 99.0 [dB]
Only CC 424: Damping/phase increase for filter 3
PLC
Input:
RUN
0 to 99.0 [dB]
Only CC 424: Damping/phase increase for filter 4
PLC
Input:
RUN
0 to 99.0 [dB]
Only CC 424: Damping/phase increase for filter 5
PLC
Input:
RUN
0 to 99.0 [dB]
Only CC 422: Band-rejection filter center frequency
PLC
Input:
RUN
0.0 to 999.9 [Hz]
Only CC 424: Center/corner frequency for filter 1
PLC
Input:
RUN
0 to 30000.0 [Hz]
Only CC 424: Center/corner frequency for filter 2
PLC
Input:
RUN
0 to 30000.0 [Hz]
Only CC 424: Center/corner frequency for filter 3
PLC
Input:
RUN
0 to 30000.0 [Hz]
Only CC 424: Center/corner frequency for filter 4
PLC
Input:
RUN
0 to 30000.0 [Hz]
Only CC 424: Center/corner frequency for filter 5
PLC
Input:
RUN
0 to 30000.0 [Hz]
Low-pass filter
PLC
Input:
RUN
0: No low-pass filter 1: 1st-order low-pass filter 2: 2nd-order low-pass filter
Only CC 424: Filter order of the low-pass filter
340 420-09
Input:
PLC
0 to 20
6 – 205 6 – 205 7 – 17 7 – 17 7 – 17 7 – 17 7 – 17 6 – 205 7 – 17 7 – 17 7 – 17 7 – 17 7 – 17 6 – 204
7 – 19
RUN
September 2006
List of Machine Parameters
4 – 37
MP
Function and input
Behavior/ SW vers.
Page
MP2562.x
Only CC 424: Filter type for filter 1
PLC
7 – 17
Input:
RUN
MP2563.x
MP2564.x
MP2565.x
MP2566.x
MP2572.x MP2573.x
4 – 38
0: No filter 1: PT2 low-pass filter (speed controller) 2: Band-rejection filter (speed controller) 3: Phase increase (speed controller) 11: PT2 low-pass filter (position controller) 12: Band-rejection filter (position controller) 13: Phase increase (position controller)
Only CC 424: Filter type for filter 2
PLC
Input:
RUN
0: No filter 1: PT2 low-pass filter (speed controller) 2: Band-rejection filter (speed controller) 3: Phase increase (speed controller) 11: PT2 low-pass filter (position controller) 12: Band-rejection filter (position controller) 13: Phase increase (position controller)
Only CC 424: Filter type for filter 3
PLC
Input:
RUN
0: No filter 1: PT2 low-pass filter (speed controller) 2: Band-rejection filter (speed controller) 3: Phase increase (speed controller) 11: PT2 low-pass filter (position controller) 12: Band-rejection filter (position controller) 13: Phase increase (position controller)
Only CC 424: Filter type for filter 4
PLC
Input:
RUN
0: No filter 1: PT2 low-pass filter (speed controller) 2: Band-rejection filter (speed controller) 3: Phase increase (speed controller) 11: PT2 low-pass filter (position controller) 12: Band-rejection filter (position controller) 13: Phase increase (position controller)
Only CC 424: Filter type for filter 5
PLC
Input:
RUN
0: No filter 1: PT2 low-pass filter (speed controller) 2: Band-rejection filter (speed controller) 3: Phase increase (speed controller) 11: PT2 low-pass filter (position controller) 12: Band-rejection filter (position controller) 13: Phase increase (position controller)
Only CC 424: Bandwidth for filter 1
PLC
Input:
RUN
0 to 30000.0 [Hz]
Only CC 424: Bandwidth for filter 2
PLC
Input:
RUN
0 to 30000.0 [Hz]
7 – 18
7 – 18
7 – 18
7 – 18
7 – 18 7 – 18
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP2574.x
Only CC 424: Bandwidth for filter 3
PLC
7 – 18
Input:
RUN
MP2575.x
0 to 30000.0 [Hz]
Only CC 424: Bandwidth for filter 4
PLC
Input:
RUN
0 to 30000.0 [Hz]
MP2576.x
Only CC 424: Bandwidth for filter 5
MP2590.x
Braking ramp in an emergency stop
PLC
Input:
RUN
Input:
0 to 30000.0 [Hz] 0.1 to 999.9 [rpm/ms] 0: Function inactive
MP2600.x
Acceleration feedforward
MP2602.x
MP2606.x
PLC
6 – 210
Input:
RUN
September 2006
0.0001 to 1.0000 [s] 0: IPC inactive
PLC
Input:
RUN
0.0001 to 1.0000 [s] 0: IPC inactive
Jerk feedforward control. Minimizing the following error (due to mechanical deformation) during the jerk phase
PLC
6 – 210
6 – 211
RUN
0.000 to 10.000
Damping factor for active damping 0 to 30.000 0: No damping 1.5: Typical damping factor
Damping time constant for active damping 0.000 to 0.9999 [s] 0: No damping 0.005 to 0.02: Typical damping time constant
Friction compensation at low speeds (effective only with velocity feedforward control) Input:
MP2610.x
0 to 100.0000 [A/(rev/s)]
IPC time constant T2
Input:
MP2610.x
6 – 224
IPC time constant T1
Input:
MP2608.x
RUN
6 – 208
Input: MP2607.x
7 – 18
PLC
Input:
MP2604.x
PLC
7 – 18
340 422-03, 6 – 206 340 480-03 PLC RUN 340 422-03, 6 – 206 340 480-03 PLC RUN PLC
6 – 53
RUN
0 to 30.0000 [A] 0: No friction compensation (or axis is analog)
Only CC 424: Low-speed friction compensation
PLC
Input:
RUN
0 to 30.0000 [A] (effective value) 0: No friction compensation
List of Machine Parameters
7 – 26
4 – 39
MP
Function and input
Behavior/ SW vers.
Page
MP2612.x
Delay of the friction compensation (effective only with velocity feedforward control)
PLC
6 – 53
Input:
RUN
0.0000 to 1.0000 [s] (typically: 0.015 s) 0: No friction compensation (or axis is analog)
MP2612.x
Input: 0.000 to 1.000 [mm] or [°] PLC 0: No friction compensation RUN 0.1: Typical input value Only CC 424: Distance before the reversal point from which a reduction of the current from MP2610.x is to go into effect.
7 – 26
MP2614.x
Only CC 424: Distance after the reversal point from which a reduction of the current from MP2610.x is to go into effect.
7 – 26
PLC RUN
Input:
0.000 to 1.000 [mm] or [°] 0: Friction compensation same as CC 424 0.1: Typical input value MP2620.x
MP2630.x
Friction compensation
PLC
Input:
RUN
Holding current Input:
MP2900.x
0 to 100.000 [A] 0: No friction compensation (or axis is analog)
PLC
–30.000 to +30.000 [A]
P factor of the torque controller for master-slave torque control (entry for the slave axis)
MP2920.x
Factor for variable torque distribution of the master-slave torque control (entry for the slave axis) Input:
MP2930.x
4 – 40
6 – 144
PLC
6 – 144
PLC
6 – 144
PLC
6 – 144
0.00 to 999.99 [1/(Nm ⋅ min)]
0.000 to 100.000 1: Master and slave axes have identical motors
Speed compensation ratio for master-slave torque control (entry for the slave axis) Input:
PLC
–100.00 to +100.00 [Nm]
MP2910.x
Input:
6 – 211
RUN
Tensioning torque between master and slave for masterslave torque control (entry for the slave axis) Input:
6 – 53
–100.00 to +100.00 [%]
HEIDENHAIN Technical Manual iTNC 530
4.4.6 Spindle
MP
Function and input
Behavior/ SW vers.
Page
MP3010
Output of speed, gear range
PLC
6 – 273
Input:
MP3011
Function of analog output S, if MP3010 < 3 Input:
MP3012
PLC
8 – 231
RUN
10 to 300 000 [mm/min] PLC
8 – 231
RUN
0.000 to 9.999 [V]
Speed range for S code output
PLC
Format:
RUN
Input:
September 2006
8 – 230
0 to 300 000 [mm/min]
Characteristic curve kink points (voltage) for output of the analog voltage with M202 Input:
MP3020
0: No special function 1: Voltage is proportional to the current contouring feed rate, depending on MP3012 2: Voltage is defined as through Module 9130 3: Voltage is defined through M functions (M200 to M204)
Characteristic curve kink points (velocity) for output of the analog voltage with M202 Input:
MP3014.x
8 – 230
Feed rate from output of an analog voltage of 10 V, MP3011 = 1 Input:
MP3013.x
0: No output of spindle speed RUN 1: Speed code if the speed changes 2: Speed code at every TOOL CALL 3: Nominal speed value always, G code if the gear range shifts 4: Nominal speed value always, G code at every TOOL CALL 5: Nominal speed value always, no G code 6: Same as 3, but with controlled spindle for orientation 7: Same as 4, but with controlled spindle for orientation 8: Same as 5, but with controlled spindle for orientation
xxyyz xx: S code for minimum speed yy: S code for maximum speed z: Speed increment 0 to 99 999
List of Machine Parameters
6 – 287
4 – 41
MP
Function and input
Behavior/ SW vers.
Page
MP3030
Behavior of the spindle
PLC
Input:
RUN
6 – 284, 8 – 233
MP3120
MP3130
MP3140
Bit 0 – 0: Axis stop for TOOL CALL S 1: No axis stop for TOOL CALL S Bit 1: Zero spindle speed when switching to another gear range 0: Reduce speed to 0 1: Do not reduce speed to 0
Zero speed permitted
PLC
Input:
RUN
0: S = 0 allowed 1: S = 0 not allowed
Polarity of the nominal spindle speed
PLC
Input:
0: M03 positive, M04 negative 1: M03 negative, M04 positive 2: M03 and M04 positive 4: M03 and M04 negative
RUN
Counting direction of spindle position encoder output signals
PLC
Input:
Line count of the spindle position encoder
MP3143
Mounting configuration of the spindle position encoder Input:
MP3210.0-7
6 – 281
6 – 281
RUN
0: Positive counting direction with M03 1: Negative counting direction with M03
MP3142
Input:
6 – 283
100 to 30000 [lines]
PLC
6 – 275
RUN PLC
6 – 276
0: Position encoder directly on the first spindle RUN 1: Position encoder via transmission (ratio in MP3450.x and MP3451.x); X30 pin 1: reference pulse 2: Position encoder via transmission (ratio in MP3450 and MP3451); X30 pin 1: reference pulse release 3: Same as input value 1, except that the second reference pulse is evaluated.
Analog nominal spindle voltage at rated speed for the gear PLC ranges 1 to 8 RUN Input: 0 to 100.000 [V]
6 – 283
Digital spindle motor revolutions at rated speed for the gear ranges 1 to 8 Input: MP3240.1
0 to 100.000 [1000 rpm]
Analog spindle: Minimum nominal value voltage
PLC
Input:
RUN
0 to 9.999 [V]
6 – 283, 6 – 284
Digital spindle: Minimum motor speed Input:
4 – 42
0 to 9.999 [1000 rpm]
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP3240.2
Analog spindle: Spindle jog voltage for gear shifting (M4009/M4010)
Limitation for spindle speed override
PLC
6 – 285
Input:
RUN
Input:
0 to 9.999 [V]
Digital spindle: Motor speed for gear shifting (M4009/ M4010) Input: MP3310 MP3310.0
0 to 9.999 [1000 rpm]
0 to 150 [%]
Upper limit
MP3310.1
Lower limit
MP3411.0-7
Ramp gradient of the spindle with M03 and M04 for gear ranges 1 to 8 Input:
MP3412
PLC RUN
Analog axes: 0 to 1.999 [V/ms] Digital axes: 0 to 1.999 [1000 rpm/ms]
Multiplication factor for MP3411.x
PLC
Input:
RUN
0.000 to 1.999
MP3412.0
With M05
MP3412.1
With oriented spindle stop
MP3412.2
With tapping with floating tap holder
MP3412.3
With rigid tapping
MP3415
Overshoot behavior of the spindle with M03, M04 and M05 PLC
MP3415.0
With M03, M04 and M05
MP3415.1
For oriented spindle stop
MP3415.2
With tapping
MP3415.3
With rigid tapping
MP3420
RUN
Spindle positioning window
PLC
6 – 291
Input:
RUN
MP3450.0-7
0 to 360.0000 [°]
PLC
6 – 291
RUN
0 to 360 [°]
kV factor for spindle orientation for gear ranges 1 to 8
PLC
Input:
RUN
0.1 to 10 [(1000°/ min) /°]
Number of spindle position-encoder revolutions for gear ranges 1 to 8 Input:
September 2006
0 to 1000 [ms]
Deviation of the reference mark from the desired position (spindle preset) Input:
MP3440.0-7
6 – 281, 6 – 291, 6 – 296, 6 – 300
6 – 281, 6 – 291, 6 – 296, 6 – 300
Input:
MP3430
6 – 280
PLC
6 – 291 6 – 276
RUN
0 to 65 535 0: No transmission
List of Machine Parameters
4 – 43
MP
Function and input
Behavior/ SW vers.
Page
MP3451.0-7
Number of spindle revolutions for gear ranges 1 to 8
PLC
6 – 276
Input:
RUN
MP3510.0-7
0 to 65 535 0: No transmission
Rated speed for the gear ranges 1 to 8
PLC
Input:
RUN
0 to 99 999.999 [rpm]
MP3515.0-7
Maximum spindle speed for gear ranges 1 to 8
MP3520.0
Speed activation through marker M4011
PLC
Input:
RUN
Input:
MP3520.1
0 to 99 999.999 [rpm]
6 – 285
RUN 6 – 291, 6 – 294
Spindle speed for oriented stop Input:
4 – 44
0 to 99 999.999 [rpm]
PLC
6 – 283
0 to 99 999.999 [rpm]
HEIDENHAIN Technical Manual iTNC 530
4.4.7 Integral PLC
MP
Function and input
MP4000.0-31
Options for the conditional compilation of the PLC program
MP4020
PLC functions
9 – 20 6 – 197, 6 – 303, 8 – 141, 8 – 197
Assignment of physical to logical PL
PLC
8 – 187
Input:
RUN
%xxxxxxxxxxxxxx Bit 0 to bit 4: Reserved Bit 5: Single or double spindle operation 0: Single-spindle operation 1: Double-spindle operation Bit 6 – Reserved Bit 7 – Transferring the values of the Pt 100 inputs 0: Accept values at a change rate of 1 K/s 1: Accept results immediately Bit 8 – Behavior after an ext. emergency stop 0: “Approach position” is not automatically activated 1: “Approach position” is automatically activated Bit 9 – Behavior of a simulated key 0: Simulated key is transferred immediately to the NC 1: Simulated key is processed first by an active PLC window before being transferred to the NC Bit 10 – Behavior of a locked key 0: Locked key only works on the active PLC window 1: Locked key works on neither the active PLC window nor on the NC Bit 11 – PLC counter in MP4120.x 0: Input in PLC cycles 1: Input in seconds Bit 12 – Font size in PLC window 0: Automatic adaptation of font size to screen 1: Font size for BF 120 Bit 13 – Monitoring the housing fan 0: Monitoring active 1: Inactive 0: First logical PL 1: Second logical PL 2: Third logical PL 3: Fourth logical PL
MP4030.0
First physical PL
MP4030.1
Second physical PL
MP4030.2
Third physical PL
MP4030.3
Fourth physical PL
September 2006
Page
RESET
Format: Input:
MP4030
Behavior/ SW vers.
List of Machine Parameters
4 – 45
MP
Function and input
Behavior/ SW vers.
Page
MP4040
Set PLC output after shutdown
340 420-03
8 – 66
PLC RUN MP4041
Time after shutdown until setting of the PLC output from MP4042 Input: 0 to 1000 [s]
MP4042
340 420-03
8 – 66
PLC RUN
PLC output to be set after shutdown
340 420-03
Input: 0 to 31
PLC
Switch off outputs that cannot be switched off by emergency stop after 250-ms delay
340 422-07, 340 480-07
Input:
Only until 340 422-09, 340 480-09
8 – 66
RUN MP4043
%xxxxxxxxxxxxxxxx Bits 0 to 15 correspond to O0 to O15 0: Do not switch off output with delay 1: Switch off output with delay
–
PLC RUN
MP4044
Switch off outputs that cannot be switched off by emergency stop after 250-ms delay
340 422-07, 340 480-07
Input:
Only until 340 422-09, 340 480-09
%xxxxxxxx Bits 0 to 7 correspond to O16 to O23 0: Do not switch off output with delay 1: Switch off output with delay
–
PLC RUN
MP4045
Switch off outputs that cannot be switched off by emergency stop after 250-ms delay Input:
% xxxxxxx Bits 0 to 6 correspond to O24 to O30 0: Do not switch off output with delay 1: Switch off output with delay
340 420-08
8 – 192
Only until 340 422-09, 340 480-09 PLC RUN
MP4050.0-8 MP4060.0-3
4 – 46
Traverse distance for lubrication of axes 1 to 9
PLC
Input:
RUN
0 to 99 999.999 [m or 1000°]
6 – 25
Outputs that are to be switched off with the delay from MP4061.x when all outputs are switched off
340 422-09, – 340 480-09
Input:
PLC
0 to 30 [no. of the output] –1: Do not switch off any outputs with delay
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
MP4061.0-3
Delay time for switching off the outputs in MP4060.x
340 422-09, – 340 480-09
Input:
0 to 5.000 [s]
Page
PLC MP4070
Compensation amount per PLC cycle for lagged-tracking axis error compensation Input:
MP4110.0-47
PLC
Input:
RUN
0 to 1 000 000.000 [s]
Run time PLC timer T96 to x (defined in OEM.SYS)
MP4120.0-47
PLC counter preset value Input:
0 to 1 000 000.000 [s]
Number of the high-speed PLC input for switching off the monitoring functions
MP4130.1
Reserved
MP4130.2-5
Numerical designation for fast PLC inputs Input:
Activation criterion for fast PLC input for switching off the monitoring functions
MP4131.1
Reserved
MP4131.2-5
Activation criterion for fast PLC inputs
–99 999.9999 to +99 999.9999
MP4220.0-4
Setting a number in the PLC (W960 to W968)
MP4230.0-31
Setting a number in the PLC (Module 9032) The number of indexes can be increased via an entry in OEM.SYS.
Input:
Input:
MP4310.0-6
September 2006
6 – 239, 9 – 61
6 – 239, 9 – 61
6 – 294, 9 – 52 9 – 52 9 – 52
–99 999.9999 to +99 999.9999 9 – 52
–99 999.9999 to +99 999.9999
General parameters in the PLC (W976 to W988, M4300 to M4411) Format: Input:
9 – 60
10 to 30 000
Setting a number in the PLC (Module 9032) Input:
RUN PLC
0: Activation at low level 1: Activation at high level
Setting a number in the PLC (D768 to D956) Input:
9 – 57
0 to 255 [no. of the PLC input]
MP4131.0
Input:
PLC
9 – 57
0 to 1 000 000.000 [s or PLC cycles, depending RUN on MP4020, bit 11]
MP4130.0
MP4231.0-31
RUN
Run time PLC timer T0 to T47
Input:
6 – 47
0.0001 to 0.5000 [mm]
MP4111.96-x
MP4210.0-47
PLC
9 – 52
Number, $xxxx [Hex], %xxxxxxxxxxxxxxxx [Bin] 0 to 65535
List of Machine Parameters
4 – 47
4.4.8 Configuration of the Data Interface
MP
Function and input
Behavior/ SW vers.
Page
MP5000
Disable data interfaces
PLC
10 – 27
Input:
RUN
MP5020
0: No interface disabled 1: RS-232-C/V.24 interface disabled 2: RS-422/V.11 interface disabled 3: RS-232-C/V.24 and RS-422/V.11 interfaces disabled
Configuration of the data interface
PLC
Format: Input:
RUN
%xxxxxxxx Bit 0 – 0: 7 data bits 1: 8 data bits Bit 1 – 0 : Any BCC character 1 : BCC not control character Bit 2 – 0: Transmission stop by RTS not active 1: Active Bit 3 – 0: Transmission stop by DC3 not active 1: Active Bit 4 – 0: Character parity even 1: Odd Bit 5 – 0: Character parity not desired 1: Desired Bit 6 = 0, Bit 7 = 0: 1 stop bit Bit 6 = 1, Bit 7 = 0: 2 stop bits Bit 6 = 0, Bit 7 = 1: 1 stop bit Bit 6 = 1, Bit 7 = 1: 1 stop bit
CN123
MP5020.0
Operating mode EXT1
MP5020.1
Operating mode EXT2
MP5020.2
Operating mode EXT3 (PLC)
MP5020.3
Operating mode EXT4 (PLC)
MP5030
Communications protocol
PLC
Input:
RUN
0 = standard data transfer protocol 1 = blockwise transfer 2 = without protocol (only for MP5030.2)
MP5030.0
Operating mode EXT1
MP5030.1
Operating mode EXT2
MP5030.2
Operating mode EXT3 (PLC)
MP5030.3
Operating mode EXT4 (PLC)
4 – 48
10 – 30
10 – 30
CN123
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP5040
Data transfer rate in operating mode EXT3 or EXT4 (data transfer through PLC)
PLC
10 – 42
Input:
MP5040.0
Operating mode EXT3 (PLC)
MP5040.1
Operating mode EXT4 (PLC)
September 2006
RUN
0: 110 bps 1: 150 bps 2: 300 bps 3: 600 bps 4: 1200 bps 5: 2400 bps 6: 4800 bps 7: 9600 bps 8: 19200 bps 9: 38400 bps 10: 57600 bps 11: 115200 bps
List of Machine Parameters
4 – 49
4.4.9 3-D Touch Probe
MP
Function and input
Behavior/ SW vers.
Page
MP6010
Selection of the touch probe
PLC
8 – 204
Input:
MP6120
0: Touch probe with cable transmission (TS 120, CN123 TS 220) 1: Touch probe with infrared transmission (TS 632) 2: Touch probe with infrared transmission (TS 440, TS 640)
Probing feed rate
PLC
Input:
RUN
1 to 3000 [mm/min]
8 – 208
CN123 MP6130
Maximum measuring range
PLC
Input:
RUN
0.001 to 99 999.9999 [mm]
8 – 208
CN123 MP6140
Setup clearance over measuring point
PLC
Input:
RUN
0.001 to 99 999.9999 [mm]
8 – 208
CN123 MP6150
Rapid traverse in probing cycle
PLC
Input:
RUN
10 to 20 000 [mm/min]
8 – 208
CN123 MP6151
Pre-positioning in probing cycle with rapid traverse
340 490-02
Input:
PLC
0: Pre-position with speed from MP6150 1: Pre-position at rapid traverse
8 – 206
RUN CN123
MP6160
MP6161
M function for probing from opposite directions
PLC
Input:
RUN
M function for orienting the touch probe before every measuring process Input:
4 – 50
–1: Spindle orientation directly by NC 0: Function inactive 1 to 999: Number of the M function for spindle orientation through PLC
–1: Spindle orientation directly by the NC 0: Function inactive 1 to 999: Number of the M function
8 – 212
CN123
PLC
8 – 210
RUN CN123
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP6162
Orientation angle
PLC
8 – 210
Input:
RUN
0 to 359.9999 [°]
CN123 MP6163
Minimum difference between the current spindle angle and PLC MP6162 before executing an oriented spindle stop RUN Input: 0 to 3.0000 [°] CN123
8 – 210
MP6165
Orient the probe before approaching with Cycle 0 or 1, or with manual probing
8 – 208
Input:
MP6166
RUN 0: Probe is not oriented before each probing CN123 1: Probe is oriented and always deflected in the same direction
Probing direction of the touch probe with consideration of an active basic rotation (only manual measuring cycles) Input:
PLC
0: Inactive 1: Active
PLC
8 – 206
RUN CN123
MP6170
Number of measurements in a programmed measurement PLC (touch probe block) RUN Input: 1 to 3 CN123
8 – 213
MP6171
Confidence range for programmed measurement (MP6170 > 1)
8 – 213
Input: MP6180
Coordinates of the ring gauge center for Probing Cycle 2 with respect to the machine datum (traverse range 1) Input:
MP6180.0
0.002 to 0.999 [mm]
RUN CN123 PLC
8 – 212
CN123
0 to +99 999.9999 [mm]
X coordinate
MP6180.1
Y coordinate
MP6180.2
Z coordinate
MP6181
Coordinates of the ring gauge center for Probing Cycle 2 with respect to the machine datum (traverse range 2) Input:
PLC
8 – 212
CN123
0 to +99 999.9999 [mm]
MP6181.0
X coordinate
MP6181.1
Y coordinate
MP6181.2
Z coordinate
September 2006
PLC
List of Machine Parameters
4 – 51
MP
Function and input
Behavior/ SW vers.
MP6182
Coordinate of the ring gauge center for Probing Cycle 2 with PLC respect to the machine datum (traverse range 3) CN123 Input: 0 to +99 999.9999 [mm]
MP6182.0
X coordinate
MP6182.1
Y coordinate
MP6182.2
Z coordinate
MP6185
Distance of probing point below ring top surface during calibration Input:
4 – 52
PLC
Page 8 – 213
8 – 213
CN123
+0.001 to +99 999.9999 [mm]
HEIDENHAIN Technical Manual iTNC 530
4.4.10 Tool Measurement with TT
MP
Function and input
Behavior/ SW vers.
Page
MP6500
Tool measurement with TT 130
PLC
8 – 220, 8 – 221, 8 – 221, 8 – 223, 8 – 225, 8 – 227, 8 – 227
Format: Input:
September 2006
%xxxxxxxxxxxxxxx RUN Bit 0 – Cycles for tool measurement 0: Locked 1: Not locked Bit 1 – 0: Tool radius measurement allowed. Tool length measurement with rotating spindle 1: Tool radius measurement and individual tooth measurement disabled Bit 2 – 0: Tool length measurement with rotating spindle (bit 1=1) 1: Tool length measurement with rotating spindle, only if a tool radius offset (TT: R-OFFS) has been entered in the tool table Bit 3 – 0: Tool measurement with spindle orientation 1: Tool measurement without spindle orientation. Individual tooth measurement not possible. Tool radius measurement possibly faulty. Bit 4 – 0: Automatically determine speed 1: Always use minimum spindle speed Bit 5 – NC stop during Tool checking 0: The NC program is not stopped when the breakage tolerance is exceeded. 1: If the breakage tolerance is exceeded, the NC program is stopped and the error message Tool broken is displayed. Bit 6 – NC stop during tool measurement 0: The NC program is not stopped when the breakage tolerance is exceeded. 1: If the breakage tolerance is exceeded, the NC program is stopped and the error message Touch point inaccessible is displayed.
List of Machine Parameters
4 – 53
MP
Function and input
Behavior/ SW vers.
MP6500
Tool measurement with TT 130
PLC
Format: Input:
%xxxxxxxxxxxxxxx RUN Bit 7 – Reserved Bit 8 – Probing routine 0: Probe contact is probed from several directions 1: Probe contact is probed from one direction Bit 9 – Automatic measurement of the direction of the probe contact basic rotation (bit 8 = 1) 0: Basic rotation is not measured 1: Basic rotation of the probe element is automatically measured Bit 10 – Probing routine (bit 8 = 1) 0: Pre-positioning to starting point in all three principal axes 1: Pre-positioning to starting point in the tool axis and in the axis of the probing direction (MP6505) (bit 9 = 0) Bit 11 – Tool checking and changing in the tool table 0: After Tool checking the tool table is changed 1: After Tool checking the tool table is not changed Bit 12 – PLC datum shift 0: Do not include 1: Include Bit 13 – 0: Tool is measured in the tilt position in which the tool touch probe was also calibrated 1: Tool is measured in another tilt position Bit 14 – Tool measurement with number of teeth = 0 0: Tool measurement with rotating spindle 1: Tool measurement with stationary spindle
MP6505
Probing direction for tool radius measurement for 3 traverse PLC ranges RUN Input: 0: Positive probing direction of the angle CN123 reference axis (0° axis) 1: Positive probing direction in the +90° axis 2: Negative probing direction of the angle reference axis (0° axis) 3: Negative probing direction in the +90° axis
MP6505.0
Traverse range 1
MP6505.1
Traverse range 2
MP6505.2
Traverse range 3
4 – 54
Page
8 – 222
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP6507
Calculation of the probing feed rate
PLC
8 – 225
Input:
RUN
MP6510
0: Calculation of the probing feed rate with constant tolerance 1: Calculation of the probing feed rate with variable tolerance 2: Constant probing feed rate
Permissible measuring error for tool measurement with rotating tool Input:
0.002 to 0.999 [mm]
MP6510.0
First measurement error
MP6510.1
Second measurement error
MP6520
Probing feed rate for tool measurement with non-rotating tool Input:
MP6530
1 to 3000 [mm/min]
CN123
PLC RUN CN123
PLC
8 – 225
RUN CN123
MP6530.0
Distance from the tool end to the top of the probe contact PLC during tool radius measurement for 3 traverse ranges RUN Input: 0.001 to 99.9999 [mm] CN123 Traverse range 1
MP6530.1
Traverse range 2
MP6530.2
Traverse range 3
MP6531
Diameter or edge length of the TT 130 probe contact for 3 PLC traverse ranges RUN Input: 0.001 to 99.9999 [mm]
MP6531.0
Traverse range 1
MP6531.1
Traverse range 2
MP6531.2
Traverse range 3
MP6540
Safety zone around the probe contact of the TT 130 for pre- PLC positioning RUN Input: 0.001 to 99 999.9999 [mm] CN123
MP6540.0
Safety clearance in tool axis direction
MP6540.1
Safety clearance in the plane perpendicular to the tool axis
MP6550
Rapid traverse in probing cycle for TT 130
PLC
Input:
RUN
10 to 300 000 [mm/min]
8 – 226
8 – 222
8 – 223
8 – 222
8 – 222
CN123 MP6560
M function for spindle orientation during individual tooth measurement Input:
September 2006
–1: Spindle orientation directly by NC 0: Function inactive 1 to 999: Number of the M function for spindle orientation by PLC
List of Machine Parameters
PLC
8 – 221
RUN CN123
4 – 55
MP
Function and input
Behavior/ SW vers.
Page
MP6570
Max. permissible surface cutting speed at the tooth edge
PLC
8 – 225
Input:
RUN
1.0000 to 129.0000 [m/min]
CN123 MP6572
MP6580.0-2
Maximum permissible speed during tool measurement
PLC
Input:
RUN
–99 999.9999 to +99 999.9999 [mm]
Monitoring the position of the rotary and additional linear axes during the tool measurement cycles Format: Input:
MP6586
–99 999.9999 to +99 999.9999 [mm]
Coordinates of the TT 130 probe contact center with respect to the machine datum (traverse range 3) Input:
MP6585
–99 999.9999 to +99 999.9999 [mm]
Coordinates of the TT 130 probe contact center with respect to the machine datum (traverse range 2) Input:
MP6582.0-2
CN123
Coordinates of the TT 130 probe contact center with respect to the machine datum (traverse range 1) Input:
MP6581.0-2
1 to 1000 [rpm] 0: 1000 [rpm]
%xxxxxx 0: Axis is not monitored 1: Axis is monitored Bit 0 – A axis Bit 1 – B axis Bit 2 – C axis Bit 3 – U axis Bit 4 – V axis Bit 5 – W axis
PLC
CN123 PLC
CN123 PLC
CN123 PLC
MP6586.4
V axis
MP6586.5
W axis
4 – 56
8 – 226
RUN CN123
B axis C axis
8 – 223
RUN
MP6586.1
U axis
8 – 223
RUN
MP6586.0
MP6586.3
8 – 223
RUN
Ref. coordinate for monitoring the position of the rotary and PLC additional linear axes during the tool measurement cycles RUN Input: –99 999.9999 to +99 999.9999 [mm or °] CN123 A axis
MP6586.2
8 – 225
8 – 226
HEIDENHAIN Technical Manual iTNC 530
4.4.11 Tapping
MP
Function and input
Behavior/ SW vers.
Page
MP7110.0
Minimum for feed-rate override during tapping
PLC
6 – 296
Input:
RUN
MP7110.1
Maximum for feed-rate override during tapping Input:
0 to 150 [%] 0 to 150 [%]
MP7120.0
Dwell time for reversal of spindle rotational direction
PLC
Input:
RUN
MP7120.1
Advanced switching time of the spindle during tapping with coded spindle-speed output
MP7120.2
Spindle slow-down time after reaching the hole depth
Input: Input:
0 to 65.535 [s]
0 to 65.535 [s] 0 to 65.535 [s]
MP7130
Run-in behavior of the spindle during rigid tapping
MP7150
Positioning window of the tool axis during rigid tapping
PLC
Input:
RUN
Input:
MP7160
September 2006
0.001 to 10 [°/min] 0.0001 to 2 [mm]
Spindle response during Cycles 17, 207 and 18 Format: Input:
6 – 296, 6 – 297
PLC
6 – 300
RUN
PLC
6 – 300 6 – 300
%xxxxx RUN Bit 0 – Oriented spindle stop with Cycles 17 and CN123 207 0: Oriented spindle stop before execution of the cycle 1: No oriented spindle stop before execution of the cycle Bit 1 – Spindle speed 0: Spindle speed is not limited 1: Spindle speed is limited so that it runs with constant speed approx. 1/3 of the time Bit 2 – Spindle in position feedback control 0: Spindle operated without position feedback control 1: Spindle operated with position feedback control Bit 3 – Acceleration feedforward control 0: Active 1: Not active Bit 4 – 0: Tool axis tracks the spindle 1: Tool axis and spindle interpolated
List of Machine Parameters
4 – 57
4.4.12 Display and Operation
MP
Function and input
Behavior/ SW vers.
Page
MP7210
Programming station
CN123
8 – 71
Input:
0: Controlling and programming 1: Programming station with PLC active 2: Programming station with PLC inactive 3: Programming station with PLC and emergency stop active
340 49x-02
Power interrupted message
PLC
MP7212
Input:
MP7220
8 – 68
0: Acknowledge the Power interrupted RUN message with CE key CN123 1: Power Interrupted message does not appear
Block number increment for ISO programs
PLC
Input:
RUN
0 to 250
8 – 40
CN123 MP7224
Disable file types
PLC
Input:
RUN
0: Do not disable 1: Disable Bit 0 – HEIDENHAIN programs *.H Bit 1 – ISO programs *.I Bit 2 – Tool tables *.T Bit 3 – Datum tables *.D Bit 4 – Pallet tables *.P Bit 5 – Text files *.A Bit 6 – HELP files *.HLP Bit 7 – Point tables *.PNT
CN123
MP7224.0
Disable soft keys for file types
MP7224.1
Protecting file types
MP7224.2
Disable the EDIT ON/OFF soft key
340 422-07, 340 480-07
MP7225
Disable Windows drives in the TNC file manager
340 480-06
Format: Input:
PLC
ABCDEFGHIJKLMNOPQRSTUVWXYZ If there are more than one drive, they are entered without spaces, e.g. MP7225 = CDE
Reserved
PLC
MP7226.1
Size of the datum table
RUN
Input:
CN123
4 – 58
–
RUN
MP7226.0
0 to 255 [lines]
8 – 150
8 – 152
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP7229
Depiction of the NC program
PLC
8 – 42
MP7229.0
Line number for program testing
RUN
Input:
CN123
100 to 9999
MP7229.1
Program length to which FK blocks are allowed
MP7230
Switching the conversational language
PLC
Input:
RUN
Input:
100 to 9999
0: English 1: German 2: Czech 3: French 4: Italian 5: Spanish 6: Portuguese 7: Swedish 8: Danish 9: Finnish 10: Dutch 11: Polish 12: Hungarian 13: Reserved 14: Russian (Cyrillic characters) 15: Chinese (simplified) 16: Chinese (traditional) 17: Slovenian (only via option #41 – Id. Nr. 530 184-01) 14, 15, 16 and 17 only in connection with BF 150
8 – 85
CN123
MP7230.0
NC conversational language, soft keys for OEM cycles
MP7230.1
PLC conversational language (user parameters)
MP7230.2
PLC error messages
MP7230.3
Help files
MP7235
Time difference to Universal Time (Greenwich Mean Time) Only until 340 480-03 Input: –23 to +23 [hours] CN123
8 – 22
RESET
September 2006
List of Machine Parameters
4 – 59
MP
Function and input
Behavior/ SW vers.
Page
MP7237
Display and reset the operating times
PLC
8 – 20
MP7237.0
Display PLC operating times
RUN
Input:
MP7237.1
Reset PLC operating times with the code number 857282 Input:
MP7237.2
MP7245
MP7246
MP7251
Bit 0 – No function Bit 1 – “Machine on” operating time Bit 2 – “Program run” operating time 0: Do not reset 1: Reset
Dialog messages for PLC operating times 1 to 13
PLC
Input:
RUN
0 to 4095 Dialog no. from the file (OEM.SYS)
Disable auxiliary cycles
PLC
Input:
RUN
0: Auxiliary cycles disabled 1: Auxiliary cycles permitted
Machine parameter with multiple function
PLC
Input:
RUN
%xxx Bit 0 – Paraxial positioning blocks 0: Permitted 1: Locked Bit 1 – Clear with DEL key 0: Does not need confirmation 1: Must confirm via soft key Bit 2 – Tool usage file 0: Do not generate 1: Generate
Number of global Q parameters starting from Q99 (up to PLC Q60) that are transferred from the OEM cycle to the calling RUN program. Input:
4 – 60
Bits 0 to 12 represent PLC operating times 1 to 13 0: Do not reset 1: Reset
Reset NC operating times with the code number 857282 Input:
MP7238.0-12
Bits 0 to 12 represent PLC operating times 1 to 13 0: Do not display 1: Display
8 – 20
8 – 64
8 – 42, 8 – 68, 8 – 264
9 – 34
0 to 40
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP7260
Number of tools in the tool table
CN123
8 – 236
MP7261.0-3
Number of pockets in the tool magazine 1 to 4
CN123
8 – 236
CN123
8 – 263
CN123
8 – 236
Input: Input:
0 to 30 000 0 to 254
MP7262
Maximum tool index number for indexed tools
MP7263
Pocket table
Input: Format: Input:
September 2006
0 to 9 %xx Bit 0 – 0: Show POCKET TABLE soft key 1: Hide POCKET TABLE soft key Bit 1 – Output of the columns for file functions 0: Output only the displayed columns 1: Output all columns
List of Machine Parameters
4 – 61
MP
Function and input
Behavior/ SW vers.
Page
MP7266
Elements of the tool table
CN123
8 – 236
Input: MP7266.0
0: No display 1 to 99: Position in the tool table
16-character alphanumeric tool name (NAME)
MP7266.1
Tool length (L)
MP7266.2
Tool radius (R)
MP7266.3
Tool radius 2 for toroidal cutter (R2)
MP7266.4
Oversize in tool length (DL)
MP7266.5
Oversize in tool radius (DR)
MP7266.6
Oversize for tool radius 2 (DR2)
MP7266.7
Locked tool? (TL)
MP7266.8
Replacement tool (RT)
MP7266.9
Maximum tool age, M4543 (TIME1)
MP7266.10
Maximum tool age, TOOL CALL (TIME2)
MP7266.11
Current tool age (CUR.TIME)
MP7266.12
Comment on the tool (DOC)
MP7266.13
Number of tool teeth (CUT)
MP7266.14
Wear tolerance for tool length (LTOL)
MP7266.15
Wear tolerance for tool radius (RTOL)
MP7266.16
Cutting direction of the tool (DIRECT)
MP7266.17
Additional information for PLC, Module 9093 (PLC)
MP7266.18
Tool offset for tool length (TT:LOFFS)
MP7266.19
Tool offset for tool radius (TT:ROFFS)
MP7266.20
Breakage tolerance for tool length (LBREAK)
MP7266.21
Breakage tolerance for tool radius (RBREAK)
MP7266.22
Tooth length (LCUTS)
MP7266.23
Plunge angle (ANGLE)
MP7266.24
Tool type (TYP)
MP7266.25
Tool material (TMA)
MP7266.26
Cutting-data tables (CDT)
MP7266.27
PLC value (PLC-VAL)
MP7266.28
Probe center offset in reference axis (CAL-OF1)
MP7266.29
Probe center offset in minor axis (CAL-OF2)
MP7266.30
Spindle angle during calibration (CAL-ANG)
MP7266.31
Tool type for pocket table (PTYP)
340 420-02
MP7266.32
Maximum shaft speed [rpm] (NMAX)
340 422-03, 340 480-03
MP7266.33
Retract tool (LIFTOFF)
340 422-06, 340 480-06
MP7266.34
PLC value (P1)
340 490-01
MP7266.35
PLC value (P2)
340 490-01
4 – 62
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
MP7266.36
PLC value (P3)
340 490-01
MP7266.37
Additional kinematics description (KINEMATIC)
340 490-01
MP7266.38
Point angle for DRILL and CSINK (T-ANGLE)
340 490-01
MP7266.39
Thread pitch for TAP (PITCH)
340 490-01
MP7267
Elements of the pocket table
CN123
Input:
Tool number (T)
MP7267.1
Special tool (ST)
MP7267.2
Fixed pocket (F)
MP7267.3
Locked pocket (L)
MP7267.4
PLC status (PLC)
MP7267.5
Tool name (TNAME)
MP7267.6
Comment on the tool (DOC)
MP7267.7
Tool type for pocket table (PTYP)
MP7267.8
Value 1 (P1)
MP7267.9
Value 2 (P2)
MP7267.10
Value 3 (P3)
MP7267.11
Value 4 (P4)
MP7267.12
Value 5 (P5)
MP7267.13
Reserve pocket (RSV)
MP7267.14
Pocket above locked (LOCKED_ABOVE)
MP7267.15
Pocket below locked (LOCKED_BELOW)
MP7267.16
Pocket at left locked (LOCKED_LEFT)
MP7267.17
Pocket at right locked (LOCKED_RIGHT)
MP7270
Feed rate display in the operating modes MANUAL OPERATION and ELECTRONIC HANDWHEEL
MP7280
MP7281
September 2006
8 – 239
0: No display 1 to 99: Position in the pocket table
MP7267.0
Input:
Page
0: Display of axis feed rate through pressing an axis direction key (axis-specific feed rate from MP1020) 1: Display of axis feed rate also before an axis direction key is pressed (smallest value from MP1020 for all axes)
340 420-02
PLC RUN CN123
Decimal character
PLC
Input:
0: Decimal comma 1: Decimal period
RUN
Depiction of the NC program
PLC
Input:
RUN
0: All blocks completely 1: Current block completely, others line by line 2: All blocks line by line; complete block when editing
List of Machine Parameters
8–9
8 – 85
CN123 8 – 42
CN123
4 – 63
MP
Function and input
Behavior/ SW vers.
Page
MP7285
Tool length offset in the tool-axis position display
PLC
8–4
Input:
RUN
MP7289
MP7290.0-8
MP7291
0: Tool length is not offset 1: Tool length is offset
CN123
Position display step for the spindle
PLC
Input:
RUN
0: 0.1° 1: 0.05° 2: 0.01° 3: 0.005° 4: 0.001° 5: 0.0005° 6: 0.0001°
CN123
Position display step for axes 1 to 9
PLC
Input
RUN
0: 0.1 mm or 0.1° 1: 0.05 mm or 0.05° 2: 0.01 mm or 0.01° 3: 0.005 mm or 0.005° 4: 0.001 mm or 0.001° 5: 0.0005 mm or 0.0005° 6: 0.0001 mm or 0.0001°
8–3
CN123
Display of axes on the screen Format: Input: to 9
8–3
PLC
6–3
SXYZABCUVWxyzabcuvwRUN Characters 1 to 9 from the right represent lines 1 Character 10 is spindle S which is always output in line 10.
MP7291.0
Display in traverse range 1
MP7291.1
Display in traverse range 2
MP7291.2
Display in traverse range 3
MP7294
Disable axis-specific “Datum setting” in the preset table Format: Input:
%xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Not disabled 1: Disabled
340 422-01, 8 – 39 340 480-02 PLC RUN CN123
MP7295
MP7296
4 – 64
Disable “Datum setting”
PLC
Format: Input:
RUN
%xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Not disabled 1: Disabled
CN123
“Datum setting” through axis keys
PLC
Input:
RUN
0: Datum can be set by axis keys and soft key 1: Datum can be set only by soft key
8 – 37
8 – 37
CN123
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
MP7300
Erasing the status information, tool data and Q parameters PLC Input:
MP7310
MP7315
Behavior/ SW vers.
Page 8 – 13
0: Erase the status information, Q parameters RUN and tool data when a program is selected. CN123 1: Erase the status information, Q parameters and tool data if a program is selected and in the event of M02, M30, and END PGM. 2: Erase the status information and tool data if a program is selected. 3: Erase the status information and tool data if a program is selected and in the event of M02, M30, END PGM. 4: Erase the status information and Q parameters if a program is selected. 5: Erase the status information and Q parameters if a program is selected and in the event of M02, M30, END PGM. 6: Erase the status information when a program is selected and in the event of M02, M30, END PGM. 7: Erase the status information when a program is selected and in the event of M02, M30, END PGM.
Graphic display mode
PLC
Format: Input:
RUN
%xxxxxxxx Bit 0 – Projection in three planes: 0: German-preferred projection 1: US-preferred projection Bit 1 – Rotating the coordinate system in the working plane by 90°: 0: No rotation 1: Rotation by +90° Bit 2 – BLK form after datum shift: 0: Shifted 1: Not shifted Bit 3 – Display of the cursor position: 0: Not displayed 1: Displayed Bit 4 – Reserved Bit 5 – Reserved Bit 6 – Reserved Bit 7 – Reserved
CN123
Tool radius for graphic simulation without TOOL CALL
PLC
Input:
RUN
0.0000 to 99 999.9999 [mm]
8 – 78
8 – 232
CN123
September 2006
List of Machine Parameters
4 – 65
MP
Function and input
Behavior/ SW vers.
Page
MP7316
Penetration depth of the tool
PLC
8 – 232
Input:
RUN
0.0000 to 99 999.9999 [mm]
CN123 MP7317
M function for graphic simulation
PLC
MP7317.0
Beginning of graphic simulation
RUN
Input:
CN123
MP7317.1
0 to 88
Interruption of the graphic simulation Input:
0 to 88
MP7330.0-15
Specifying the user parameters 1 to 16
MP7340.0-15
Dialog messages for user parameters 1 to 16
PLC
Input: 0 to 4095 (line number of the PLC dialog message file)
RUN
Input:
4 – 66
8 – 232
PLC
0 to 9999.00 (no. of the user parameter)
8 – 69
RUN 8 – 69
HEIDENHAIN Technical Manual iTNC 530
4.4.13 Colors
MP
Function and input
Behavior/ SW vers.
Page
MP7350
Window frames
PLC
8 – 72
MP7351
Error messages
PLC
MP7351.0
Priority 0 (error)
RUN
MP7351.1
Priority 1 (warning)
MP7351.2
Priority 2 (information)
340 422-06, 340 480-06
MP7352
“Machine” operating mode display
PLC
MP7352.0
Background
RUN
MP7352.1
Text for operating mode
MP7352.2
Dialog
MP7353
“Programming” operating mode display
PLC
MP7353.0
Background
RUN
MP7353.1
Text for operating mode
MP7353.2
Dialog
MP7354
“Machine” program text display
PLC
MP7354.0
Background
RUN
MP7354.1
General program text
MP7354.2
Active block
MP7354.3
Background, not current window, comments, and unused machine parameters in the machine parameter file
RUN
MP7355
“Programming” program text display
PLC
MP7355.0
Background
RUN
MP7355.1
General program text
MP7355.2
Active block
MP7355.3
Background, not current window, comments, and unused machine parameters in the machine parameter file
MP7356
Status window and PLC window
PLC
MP7356.0
Background
RUN
MP7356.1
Axis positions in the status display
MP7356.2
Status display other than axis positions
MP7357
“Machine” soft-key display
PLC
MP7357.0
Background
RUN
MP7357.1
Text color
MP7357.2
Inactive soft-key row
MP7357.3
Active soft-key row
September 2006
List of Machine Parameters
8 – 72
8 – 72
8 – 72
8 – 72
8 – 72
8 – 73
8 – 73
4 – 67
MP
Function and input
Behavior/ SW vers.
Page 8 – 73
MP7358
“Programming” soft-key display
PLC
MP7358.0
Background
RUN
MP7358.1
Text color
MP7358.2
Inactive soft-key row
MP7358.3
Active soft-key row
MP7360
Graphics: 3-D view and plan view
PLC
MP7360.0
Background
RUN
MP7360.1
Top surface
MP7360.2
3-D: Front face
MP7360.3
Text display in the graphics window
MP7360.4
3-D: Lateral face
MP7360.5
Lowest point of blank form
MP7360.6
Highest point of blank form (below surface)
MP7361
Graphics: Projection in three planes
PLC
MP7361.0
Background
RUN
MP7361.1
Top view
MP7361.2
Front and side view
MP7361.3
Axis cross and text in the graphic display
MP7361.4
Cursor
MP7362
Additional status display in the graphics window
PLC
MP7362.0
Background of graphic window
RUN
MP7362.1
Background of status display
MP7362.2
Status symbols
MP7362.3
Status values
MP7363
Programming graphics
PLC
MP7363.0
Background
RUN
MP7363.1
Resolved contour
MP7363.2
Subprograms and frame for zooming
MP7363.3
Alternative solutions
MP7363.4
Unresolved contour
MP7363.5
Rapid traverse movements
MP7364
Color of the help illustrations for cycles
PLC
MP7364.0-6
Colors 1 to 7 of the graphic program used
RUN
MP7364.7
Line color (color 8 of the graphic program)
MP7364.8
Color for highlighted graphic elements if defined in the help illustration
MP7364.9
Background
4 – 68
8 – 73
8 – 73
8 – 73
8 – 73
8 – 74
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page 8 – 74
MP7365
Oscilloscope
PLC
MP7365.0
Background
RUN
MP7365.1
Grid
340 420-02
MP7365.2
Cursor and text
MP7365.3
Selected channel
MP7365.4-9
Channel 1 to 6
MP7366
Pop-up window (HELP key, pop-up menus etc. )
PLC
MP7366.0
Background
RUN
MP7366.1
Text or foreground
MP7366.2
Active line
MP7366.3
Title bar
MP7366.4
Scroll-bar field
MP7366.5
Scroll bar
MP7366.6-14
Reserved
MP7367
Large PLC window
PLC
MP7367.0
Background
RUN
MP7367.1-7
Colors 1 to 7 (Color 8: MP7350)
MP7367.8-14
Colors 9 to 15
MP7368
Pocket calculator
PLC
MP7368.0
Background
RUN
MP7368.1
Background of displays and keys
MP7368.2
Key texts (“os” in “cos”)
MP7368.3
Key symbols
MP7369
Directory tree in PGM MGT
PLC
MP7369.0
Text background
RUN
MP7369.1
Text
MP7369.2
Text background of the active folder
MP7369.3
Line color of the tree structure
MP7369.4
Folders
MP7369.5
Drives
MP7369.6
Text background of the heading in the browser window
MP7370
Small PLC window
340 420-05
MP7370.0
Background
PLC
MP7370.1-15
Colors 1 to 15
RUN
MP7392
Screen saver
PLC
Input:
RUN
September 2006
1 to 99 [min] 0: No screen saver
List of Machine Parameters
8 – 74
8 – 74
8 – 74
8 – 74
8 – 74
8 – 74
CN123
4 – 69
4.4.14 Machining and Program Run
MP
Function and input
MP7400
Look-ahead – Number of NC blocks for advance calculation 340 490-02 of the path PLC Input: 0: 256 [blocks] (default) RUN 1: 512 [blocks] 2: 1024 [blocks]
8 – 40
MP7410
Scaling cycle in two or three axes
PLC
8 – 49
Input:
RUN
MP7411
Page
CN123
PLC
Bit 0 – RUN 0: Use the calibrated data of the touch probe CN123 1: Use the current tool data from the last TOOL CALL Bit 1 – 0: Only one set of touch probe calibration data 1: Use the tool table to manage more than one set of touch probe calibration data
Cycles for milling pockets with combined contours Format: Input:
4 – 70
0: Scaling cycle is effective in all three principal axes 1: Scaling cycle is effective only in the working plane
Tool data in the touch probe block Input:
MP7420
Behavior/ SW vers.
PLC
8 – 209, 8 – 209
8 – 49
%xxxxx RUN Bit 0 – Milling direction for channel milling: CN123 0: Counterclockwise for pockets, clockwise for islands 1: Clockwise for pockets, counterclockwise for islands Bit 1 – Sequence for rough-out and channel milling (only for SL 1): 0: First channel milling, then pocket rough-out 1: First pocket rough-out, then channel milling Bit 2 – Merging of listed contours: 0: Contours are merged only if the tool-center paths intersect 1: Contours are merged if the programmed contours intersect Bit 3 – Rough-out and channel milling to pocket depth or for every infeed 0: Each process uninterrupted to pocket depth 1: Both processes for each pecking depth before proceeding to the next depth Bit 4 – Position after completion of the cycle: 0: Tool moves to the same position as before the cycle was called 1: Tool only moves in the tool axis to the “clearance height”
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP7430
Overlap factor for pocket milling
PLC
8 – 47
Input:
RUN
0.001 to 1.414
CN123 MP7431
Arc end-point tolerance
PLC
Input:
RUN
0.0001 to 0.016 [mm]
8 – 68
CN123 MP7440
Output of M functions Format: Input:
MP7441
September 2006
PLC
%xxxxxxx RUN Bit 0 – Program stop with M06 CN123 0: Program stop with M06 1: No program stop with M06 Bit 1 – Modal cycle call M89 0: Normal code transfer of M89 at beginning of block 1: Modal cycle call M89 at end of block Bit 2 – Program stop with M functions: 0: Program stop until acknowledgment of the M function 1: No program stop: No waiting for acknowledgment. Bit 3 – Switching of kv factors with M105/M106: 0: Function is not in effect 1: Function is effective Bit 4 – Reduced feed rate in the tool axis with M103: 0: Function is not in effect 1: Function is effective Bit 5 – Reserved Bit 6 – Automatic activation of M134 0: M134 must be activated in the NC program 1: M134 is automatically activated when an NC program is selected.
Error message during cycle call
PLC
Format: Input:
RUN
%xxx Bit 0 – 0: Error message Spindle ? is not suppressed 1: Error message Spindle ? is suppressed Bit 1: Reserved, enter 0 Bit 2 – 0: Error message Enter depth as negative is suppressed 1: Error message Enter depth as negative is not suppressed
List of Machine Parameters
6 – 50, 6 – 129, 6 – 187, 6 – 189, 8 – 63, 8 – 233
8 – 63
CN123
4 – 71
MP
Function and input
Behavior/ SW vers.
Page
MP7442
Number of the M function for spindle orientation in the cycles
PLC
6 – 290
Input:
1 to 999: Number of the M function 0: No oriented spindle stop –1: Oriented spindle stop by the NC
RUN CN123
MP7450
Offsetting the tool change position from MP951.x in block PLC scan RUN Format: %xxxxxxxxxxxxxx Input: Bits 0 to 3 represent axes 1 to 14: 0: Do not offset 1: Offset
MP7460.x
Reserved
8 – 51
340 422-10, – 340 480-10 PLC RUN CN123
MP7461.x
Reserved
340 422-10, – 340 480-10 PLC RUN CN123 PLC
MP7451.0-8
Feed rate for returning to the contour for axes 1 to 9
MP7470
Maximum contouring tool feed rate at 100% override
PLC
Input:
RUN
Input:
MP7471
4 – 72
RUN
0 to 300 000 [mm/min] 0: No limitation
–
CN123
Maximum velocity of the principal axes during compensating movements through M128 or TCPM Input:
MP7475
10 to 300 000 [mm/min]
8 – 51
0 to 300 000 [mm/min]
PLC
6 – 129
RUN CN123
Reference for datum table
PLC
Input:
RUN
0: Reference is workpiece datum 1: Reference is machine datum (MP960.x)
8 – 152
CN123
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP7480
Output of the tool or pocket number
PLC
8 – 275
MP7480.0
With TOOL CALL block
RUN
Input:
MP7480.1
With TOOL DEF block Input:
MP7481.x
0: No output 1: Tool number output only when tool number changes 2: Output of tool number for every TOOL CALL block 3: Output of the pocket number and tool number only when tool number changes 4: Output of pocket number and tool number for every TOOL CALL block 5: Output of the pocket number and tool number only when tool number changes. Pocket table is not changed. 6: Output of pocket number and tool number for every TOOL CALL block. Pocket table is not changed. 0: No output 1: Tool number output only when tool number changes 2: Output of tool number for every TOOL DEF block 3: Output of the pocket number and tool number only when tool number changes 4: Output of pocket number and tool number for every TOOL DEF block
Sequence for new and returned tool when changing tools
340 420-06
Format:
PLC
Input:
%xxxx 0: First, output the pocket of the tool to be returned 1: First, output the pocket of the new tool Bit 0: New tool from magazine 1 Bit 1: New tool from magazine 2 Bit 2: New tool from magazine 3 Bit 2: New tool from magazine 4
MP7481.0
Tool from magazine 1 to be returned
MP7481.1
Tool from magazine 2 to be returned
MP7481.2
Tool from magazine 3 to be returned
MP7481.3
Tool from magazine 4 to be returned
September 2006
List of Machine Parameters
8 – 278
RUN
4 – 73
MP
Function and input
Behavior/ SW vers.
Page
MP7482
Pocket coding of the tool magazine
340 420-06
8 – 275
Format:
PLC
Input:
MP7490
MP7492.13 MP7493
0 to 9 –1: Do not set a datum
PLC RUN
Maximum deviation of the current tool orientation relative to the tool axis when setting a reference point with M114 0.0000 to 30.0000 [degrees] Default: 0.005
340 490-02
6 – 122
PLC RUN
Axes for which an exact stop is to occur after positioning Format: Input:
4 – 74
%xxxx RUN Bit 0 – 0: Display one traverse range with MOD 1: Display three traverse ranges with MOD Bit 1 – 0: Each traverse range has its own datum (and 3 memories for the positions of the swivel head) 1: One datum for all traverse ranges Bit 2 – Calibration data: touch probe for workpiece measurement: 0: One set of calibration data for all traverse ranges 1: Every traverse range has its own set of calibration data Bit 3 – Calibration data: touch probe for tool measurement: 0: One set of calibration data for all traverse ranges 1: Every traverse range has its own set of calibration data
6 – 24, 8 – 209, 8 – 220
Datum set in the first axis to Datum set in the 14th axis
Input: MP7494
PLC
Number of axis in which the same datum is to be set during 340 422-03, 8 – 37 Datum Setting (with active preset table) 340 480-03 Input:
MP7492.0
RUN
Functions for traverse ranges Format: Input:
MP7492.x
%xxxx 0: Variable pocket coding 1: Fixed pocket coding Bit 0: Magazine 1 Bit 1: Magazine 2 Bit 2: Magazine 3 Bit 3: Magazine 4
%xxxxxxxxxxxxxx Bits 0 to 13 correspond to axes 1 to 14 0: No exact stop 1: Exact stop
340 422-06, 340 480-06
–
PLC RUN
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP7500
Tilt working plane (inactive preset table)
PLC
6 – 125
(is set via the kinematics table)
Format: Input:
September 2006
%xxxxxxxxx RUN Bit 0 – “Tilted working plane” 0: Off 1: On Bit 1 – 0: Angles correspond to the position of the tilting axes of the head/table 1: Angles correspond to the spatial angle (the iTNC calculates the position of the tilted axes of the head/table) Bit 2 – 0: The tilting axes are not positioned with Cycle 19 1: The tilting axes are positioned with Cycle 19 Bit 3 – 0: The current tilting-axis position is taken into account with respect to the machine datum 1: The 0° position is assumed for the first rotary axis Bit 4 – 0: Compensate mechanical offset during exchange of the spindle head when calling M128, M114, TCPM or “tilted working plane” 1: Compensate mechanical offset during PLC datum shift Bit 5 – 0: The current tilting-axis position is taken into account with respect to the machine datum 1: The tilting-axis position that was entered with the 3-D ROT soft key applies. Bit 6 – 0: Spatial angle C is realized through a rotation of the coordinate system. 1: Spatial angle C is realized through a rotation of the table
List of Machine Parameters
4 – 75
MP
Function and input
Behavior/ SW vers.
Page
Bit 7 – 0: The current tilting-axis position is taken into account with respect to the machine datum 1: The active tilting-axis position is a) derived from the tilting angles in the 3D ROT window if manual tilting is active b) derived from the reference coordinates of the rotary axes if tilting is inactive Bit 8 – 0: The tilting axis positioning is considered depending on bit 3, bit 5 and bit 7 1: If manual tilting is active, the datum to be set for the principal axes X, Y and Z is recalculated back to the home position of the tilting element MP7500
Tilt working plane (active preset table)
(is set via the kinematics table)
Format: Input:
4 – 76
340 422-01, 6 – 126 340 480-02
%xxxxxxxxx Bit 0 – “Tilted working plane” PLC 0: Off RUN 1: On Bit 1 – 0: Angles correspond to the position of the tilting axes of the head/table 1: Angles correspond to the spatial angle (the iTNC calculates the position of the tilted axes of the head/table) Bit 2 – 0: The tilting axes are not positioned with Cycle 19 1: The tilting axes are positioned with Cycle 19 Bit 3 – No function Bit 4 – No function Bit 5 – Test of the tilting axis during “datum setting” in X, Y and Z 0: Current tilting-axis position must fit the defined tilting angles 1: No test Bit 6 – 0: Spatial angle C is realized through a rotation of the coordinate system. 1: Spatial angle C is realized through a rotation of the table Bit 7 – No function Bit 8 – No function Bit 9 – Reserved
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP7502
Functionality of M144/M145
PLC
6 – 130
Input:
MP7503
%xxx RUN Bit 0 – 0: M144/M145 not active 1: M144/M145 active Bit 1 – M144/M145 in the automatic modes 0: M144/M145 active 1: M144 is activated automatically at the start of an NC program. It can only be deactivated with M145 during an NC program. Bit 2 – M144/M145 in the manual modes 0: M144/M145 not active 1: M144/M145 active
Virtual tool axis – Reapproaching the contour and manual traverse in the current tool-axis direction (FCL2 upgrade function) Input:
PLC RUN
0: Inactive 1: Active
MP7510
Transformed axis
PLC
(only possible via the old kinematics table)
Format: Input:
RUN
MP7510.0-14
Transformation 1 to transformation 15
MP7520
Additional code for transformation
PLC
(only possible via the old kinematics table)
Format: Input:
RUN
MP7520.0-14
Transformation 1 to transformation 15
September 2006
6 – 131
%xxxxxx 0: End of the transformation sequence Bit 0 corresponds to axis X Bit 1 corresponds to axis Y Bit 2 corresponds to axis Z Bit 3 corresponds to axis A Bit 4 corresponds to axis B Bit 5 corresponds to axis C
%xx Bit 0 – Tilting axis 0: Swivel head 1: Tilting table Bit 1 – Type of dimension in MP7530.x 0: Incremental dimension for swivel head 1: Absolute with respect to the machine datum for tilting table
List of Machine Parameters
6 – 126
6 – 126
4 – 77
MP
Function and input
Behavior/ SW vers.
Page
MP7530
Type of dimension for transformation
PLC
6 – 127
(only possible via the old kinematics table)
Entry:
RUN
MP7530.0-14
Transformation 1 to transformation 15
MP7550
Home position of the tilting element
PLC
(only possible via the old kinematics table)
Input:
RUN
MP7550.0
A axis
MP7550.1
B axis
MP7550.2
C axis
Entry of a formula is possible, see page 4 – 6 0: Free tilting axis
–99 999.9999 to +99 999.9999
6 – 127
4.4.15 Hardware
MP
Function and input
Behavior/ SW vers.
Page
MP7600.0
Only CC 422: Position controller cycle time = MP7600.0 ⋅ 0.6 ms
RESET
6 – 185
Input:
MP7600.1
Only CC 422: PLC cycle time = MP7600.1 ⋅Position controller cycle time = MP7600.0 ⋅ MP7600.1 ⋅ 0.6 ms Input:
MP7602
0 to 60 [ms] 0 to 10: 10.8 ms
340 490-01, 7 – 8 340 492-01
%xxxx
MP7610.0
Control loop of the 1st controller PCB
MP7610.1
Control loop of the 2nd controller PCB
4 – 78
340 422-03, 7 – 14 340 480-03
Only CC 424: Definition of the control loops as single or double speed Input:
6 – 185, 9–3
1 to 20 Proposed input value: 6 (= 10.8 ms) Proposed input value for basic version: 3 (= 10.8 ms)
Only CC 424: PLC cycle time Input:
MP7610.x
1 to 20 Proposed input value: 3 (= 1.8 ms) Proposed input value for basic version: 6 (= 3.6 ms)
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP7620
Feed-rate override and spindle-speed override
PLC
6 – 183, 6 – 286, 8–9
Format: Input:
%xxxxxxx RUN Bit 0 – Feed-rate override if rapid traverse key is pressed in Program Run mode. 0: Override not effective 1: Override effective Bit 1 – No function Bit 2 – Feed-rate override if rapid traverse key and machine direction button are pressed in Manual mode 0: Override not effective 1: Override effective Bit 3 – Feed-rate override and spindle-speed override in 1% increments or according to a nonlinear characteristic curve 0: 1% steps 1: Nonlinear characteristic curve Bit 4 – No function Bit 5 – Reserved Bit 6 – Feed-rate smoothing 0: Not active 1: Active Bit 7 – Reserved
MP7621
Reserved
MP7640
Handwheel
PLC
Input:
RUN
MP7641
September 2006
– 0: No handwheel 1: Reserved 2: HR 130 3: Reserved 4: Reserved 5: Up to three HR 150 via HRA 110 6: HR 410 7 to 10: Reserved 11: HR 420
Handwheel settings
PLC
Format: Input:
RUN
%xxxxxxxxxxxxxx Bit 0 – HR 410: Entry of interpolation factor 0: Through iTNC keyboard 1: Through PLC Module 9036 Bit 1 – HR 420: With detent positions 0: Without detent positions 1: With detent positions Bit 2 – HR 420: Axis direction keys and rapid traverse 0: Controlled by the NC 1: Controlled by the PLC Bit 3 – HR 420: NC Start / NC Stop 0: Controlled by the NC 1: Controlled by the PLC
List of Machine Parameters
8 – 177
8 – 177
4 – 79
MP
Function and input
Behavior/ SW vers.
Page
MP7645
Initializing parameter for handwheel
PLC
MP7645.0
Layout of the handwheel keypad for HR 410
RUN
8 – 181, 8 – 184
Input: MP7645.0
Assignment of a third handwheel via axis selector switch S2, when MP7645.2 = 0 Input:
MP7645.1
4 – 80
1: Axis X 2: Axis Y 4: Axis Z 8: Axis IV (MP410.3) 16: Axis V (MP410.4)
Assignment of a third handwheel via axis selector switch or MP7645.1 Input:
MP7645.3-7
0: Switch position 1 (at the left stop) 3rd handwheel axis Z Switch position 2 3rd handwheel axis IV Switch position 3 3rd handwheel axis V 1: Switch position 1 3rd handwheel axis X Switch position 2 3rd handwheel axis Y Switch position 3 3rd handwheel axis Z Switch position 4 3rd handwheel axis IV Switch position 5 3rd handwheel axis V 2: Switch position 3 3rd handwheel axis Z Switch position 4 3rd handwheel axis IV Switch position 5 3rd handwheel axis V
Fixed assignment of third handwheel if MP7645.2 = 1 Input:
MP7645.2
0: Evaluation of the keys by NC, including LEDs 1: Evaluation of the keys by PLC
0: Assignment by axis selection switch according to MP7645.0 1: Assignment by MP7645.1
No function
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP7650
Handwheel counting direction for each axis
PLC
8 – 177
Input:
RUN
Bits 0 to 13 correspond to axes 1 to 14 0: Negative counting direction 1: Positive counting direction
MP7660
Threshold sensitivity for electronic handwheel
MP7670
Interpolation factor for handwheel
PLC
Input:
RUN
Input:
0 to 65 535 [increments] 0 to 10
MP7670.0
Interpolation factor for low speed
MP7670.1
Interpolation factor for medium speed (only HR 410)
MP7670.2
Interpolation factor for high speed (only HR 410)
MP7672.x
Reserved
PLC
8 – 177
RUN 8 – 177, 8 – 181
340 422-06, – 340 480-06 PLC RUN
MP7671
Handwheel feed rate in the Handwheel operating mode with HR 410 Input:
8 – 181
RUN
0 to 1000 [% of MP1020]
MP7671.0
Low speed
MP7671.1
Medium speed (only HR 410)
MP7671.2
High speed (only HR 410)
September 2006
PLC
List of Machine Parameters
4 – 81
MP
Function and input
Behavior/ SW vers.
Page
MP7680
Machine parameter with multiple function
PLC
6 – 236, 6 – 237, 8 – 46, 8 – 49, 8 – 52, 8 – 147, 8 – 262
Format: Input:
4 – 82
%xxxxxxxxxxxxxxx RUN Bit 0 – Memory function for axis-direction keys with M4562: 0: Not saved 1: Saved if M4562 is set Bit 1 – Returning to the contour 0: Not active 1: Active Bit 2 – Block scan 0: Not active 1: Active Bit 3 – Interruption of block scan for STOP or M06: 0: Interruption 1: No interruption Bit 4 – Inclusion of programmed dwell time during the block scan: 0: Include the dwell time 1: Do not include the dwell time Bit 5 – Start of calculation for block scan 0: Start from block with cursor 1: Start from beginning of program Bit 6 – Tool length in blocks with normal vectors: 0: Without R2 from tool table (south pole) 1: With R2 from tool table (center of sphere) Bit 7 – Inserting a defined rounding arc or spline: 0: Defined rounding arcs are always inserted 1: Defined rounding arcs are always inserted if the acceleration from MP1060.x or MP1070 was exceeded.
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
MP7680
Machine parameter with multiple function
PLC
Page
Bit 8 – Insertion of rounding arc or cubic spline RUN 0: Rounding arc is inserted. 1: A cubic spline is inserted instead of a rounding arc. Bit 9 – Constant jerk on spline (bit 8 = 1) 0: No constant jerk 1: Constant jerk Bit 10 – Cutter-radius-compensated outside corners 0: Insertion of a circular arc 1: Insertion of a spline curve Bit 11 – Behavior of M116 0: Rotary axis is parallel to linear axis 1: Any position of rotary axis to linear axis Bit 12 – Behavior of Cycle 28 0: Standard behavior 1: The slot wall is approached and departed tangentially; at the beginning and end of the slot a rounding arc with a diameter equal to the slot width is cut Bit 13 – Behavior during program interruption with axis movement 0: Automatic activation of APPROACH POSITION 1: Do not automatically activate APPROACH POSITION Bit 14 – Behavior of NC Start after NC Stop and internal stop 0: NC Start permitted 1: NC Start only permitted after block scan GOTO Bit 15 – NC Start if program is aborted 0: NC Start permitted 1: NC Start not permitted (message window)
September 2006
List of Machine Parameters
4 – 83
MP
Function and input
Behavior/ SW vers.
Page
MP7681
M/S/T/Q transfer to the PLC during block scan
PLC
8 – 54
Format: Input:
4 – 84
%xxxx RUN Bit 0 – 0: Transfer M functions to the PLC during block scan. 1: Collect M functions and transfer them to the PLC after block scan. Bit 1 – 0: Transfer T code to the PLC during block scan 1: Transfer last T code to the PLC after block scan Bit 2 – 0: Transfer S or G code to the PLC during block scan 1: Transfer S or G code to the PLC after block scan. Bit 3 – 0: Transfer FN19 outputs to the PLC during block scan 1: Transfer last FN19 outputs to the PLC after block scan.
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
Behavior/ SW vers.
Page
MP7682
Machine parameter with multiple function
PLC
6 – 127, 8 – 4, 8 – 5, 8 – 45, 8 – 271
Format: Input:
September 2006
%xxxxxxxx RUN Bit 0 – Incremental block after TOOL CALL 0: With length compensation 1: Without length compensation Bit 1 – Reference value for calculating the preset during datum setting 0: Actual value is calculated 1: Nominal value is calculated Bit 2 – Traverse path of rotary axes with modulo display 0: Positioning without passing over zero 1: Positioning on the shortest path Bit 3 – Reserved, enter 0 Bit 4 – Tolerance for compensating movements with tilting axes (M114) 0: Tolerance will be included 1: Tolerance will not be included Bit 5 – Feed rate with M128 or TCPM 0: Feed rate refers to tool tip 1: Feed rate from interpolation of all axes involved Bit 6 – Behavior with TOOL DEF strobe 0: Depending on the NC program, the TOOL DEF strobe must be acknowledged by the PLC (TOOL DEF within a contiguous contour) 1: TOOL DEF strobe must always be acknowledged by the PLC Bit 7 – Block elements TOOL CALL and S in ISO blocks 0: Machine as programmed 1: Machine at beginning of block (block display does not change)
List of Machine Parameters
4 – 85
MP
Function and input
Behavior/ SW vers.
Page
MP7683
Executing pallet tables and NC programs
PLC
8 – 171, 8 – 44
Format: Input:
4 – 86
%xxxxx RUN Bit 0 – No function Bit 1 – Program Run, Full Sequence mode 0: During the start, a complete NC program is run. 1: At the start all NC programs are executed up to the next pallet. Bit 2 – Program Run, Full Sequence mode 0: As defined in bit 1 1: All NC programs and pallets up to the end of the table are executed. Bit 3 – When the end of the table is reached, the process begins again with the first line. 0: Function is not in effect 1: Function is effective (bit 2=1) Bit 4 – Editing the active pallet table 0: Active pallet table cannot be edited. 1: In the Program Run, Full Sequence and Program Run, Single Block modes, the current pallet table can be edited. Bit 5 – AUTOSTART soft key 0: Do not display soft key 1: Display soft key Bit 6 – Display of pallet table and NC program 0: Both simultaneously in a split screen 1: Pallet table or NC program individually Bit 7 – AUTOSTART function 0: AUTOSTART function by NC 1: AUTOSTART function by PLC Bit 8 – Procedure for tool-oriented machining in the Program Run operating modes 0: NC start machines all workpieces on the pallet until the next tool change 1: NC start executes all NC programs until the end of the pallet
HEIDENHAIN Technical Manual iTNC 530
MP
Function and input
MP7684
Nominal position value filter (bit 0 to bit 4) and path control PLC with M128 or TCPM (bit 5 to bit 7 permitted) RUN Format: %xxxxxxxx Input: Bit 0 – Nominal position value filter 0: Include acceleration 1: Do not include the acceleration Bit 1 – Nominal position value filter 0: Include the jerk 1: Do not include the jerk Bit 2 – Nominal position value filter 0: Include the tolerance 1: Do not include the tolerance Bit 3 – Nominal position value filter 0: Include the radial acceleration 1: Do not include the radial acceleration Bit 4 – Nominal position value filter 0: Include jerk and tolerance limit at changes in the curvature 1: Do not include jerk and tolerance limit at changes in the curvature Bit 5 – Reserved Bit 6 – Reserved Bit 7 – Reserved Bit 8 – Reserved Bit 9 – Accelerated 5-axis machining with M128 with many rotary axis motions that are less than 2° per positioning block (not with handwheel superimpositioning with M118) 0: Inactive 1: Active
6 – 173, 6 – 182
MP7690
Evaluation of the electronic ID labels
–
Input:
September 2006
%xx Bit 0 – HEIDENHAIN power modules 0: Active 1: Inactive Bit 1 – HEIDENHAIN synchronous motors 0: Active 1: Inactive Bit 2 – Reserved
List of Machine Parameters
Behavior/ SW vers.
340 422-06, 340 480-06
Page
4 – 87
MP
Function and input
Behavior/ SW vers.
MP7691.x
Size of internal diagnostics files (FILO memory) for error searching. Can only be evaluated by HEIDENHAIN. Set MP7691.x = 0.
MP7691.0
OS trace
Page –
340 420-05
Log file with reports from the operating system (keystroke capture/selected programs, operating mode, external connections, etc.) TNC:\trace.dmp (file saved before switch-off) TNC:\trace.act (current recording) Input: MP7691.1
1 to 10 [megabytes] 0: Inactive (default)
TCP trace
340 490-02
Log files with reports of the network traffic (TCP/IP). 10 files are created with the size from MP7691.1 in [megabytes]. TNC:\tcpdump\capture1 - capture10 Input: MP7691.2
Each file with 1 to 10 [megabytes] 0: Inactive (default)
NC trace Size of the log file with reports from the NC software. 10 files are created that are 10 · [MP7691.2] megabytes large TNC:\ncpdump\capture1 - capture10 Input:
MP7691.3
Each file with 1 to 10 [megabytes] 0: Inactive (default)
Kernel trace Size of the log file with reports from the NC kernel. 10 files are created that are 10 · [MP7691.3] megabytes large TNC:\klog\0.log - 9.log Input:
4 – 88
Each file with 1 to 10 [megabytes] 0: Inactive (default)
HEIDENHAIN Technical Manual iTNC 530
4.4.16 Second Spindle
MP
Function and input
MP13010 to MP13520
Machine parameter block for the second spindle
September 2006
Input:
Behavior/ SW vers.
Page 6 – 303
Function and input range are identical with MP3010 to MP3520.
List of Machine Parameters
4 – 89
✎
4 – 90
HEIDENHAIN Technical Manual iTNC 530
5 Modules, Markers and Words 5.1 Overview of Modules....................................................................... 5 – 3 5.2 Overview of Markers and Words .................................................. 5 – 11
September 2006
5–1
5–2
HEIDENHAIN Technical Manual iTNC 530
5 Modules, Markers and Words 5.1 Overview of Modules Module Function
September 2006
SW Vers.
Page
9000/ 9001
Copy in the marker or word range
9 – 156
9002
Reading all inputs of a PLC input/output unit
8 – 192
9003
Read the analog input of the MC and of the PL 4xxB
8 – 196
9004
Edges of PLC inputs
8 – 194
9005
Update all outputs of a PLC input/output unit
8 – 193
9006
Set and start PLC timer
9 – 58
9007
Diagnostic information of the PL 4xxB
8 – 188
9008
Read certain inputs of a PL 4xxB
8 – 193
9009
Update certain outputs of a PL 4xxB
8 – 194
9010/ 9011/ 9012
Read in the word range
9 – 157
9019
Size of the processing stack
9 – 63
9020/ 9021/ 9022
Write in the word range
9 – 158
9031
Overwrite machine parameters
4 – 10
9032
Read machine parameters
4 – 11, 9 – 52
9033
Select machine parameter file
4 – 13
9034
Load a machine parameter subfile
4 – 14
9035
Reading status information
6 – 19, 6 – 20, 6 – 46, 8 – 14, 8 – 200,
9036
Writing status information
8 – 178, 8 – 199
9038
Reading general axis information
6 – 18
9040
Reading the axis coordinates (format 0.001 mm)
8–6
9041
Reading the axis coordinates (format 0.0001 mm)
8–6
9042
Reading the spindle coordinates (format 0.001°)
6 – 276
Overview of Modules
5–3
Module Function
5–4
SW Vers.
Page
9044
Reading the spindle coordinates (format 0.0001°)
6 – 276
9045
Reading the 3-D ROT data
9050
Conversion from binary numbers → ASCII
9 – 159
9051
Conversion from binary numbers → ASCII
9 – 160
9052
Conversion from ASCII → binary
9 – 161
9053
Conversion from binary → ASCII/ hexadecimal
9 – 161
9054
Conversion from ASCII/hexadecimal → binary
9 – 162
9055
Local time
8 – 23
9060
Status of M functions
8 – 61
340 490-01 6 – 123
9061
Status of non-modal M functions
8 – 61
9065
Status of the commissioning function
7 – 35
9066
Status of HEIDENHAIN supply unit
6 – 264
9070
Copy a number from a string
9 – 135
9071
Find the string length
9072
Copy a byte block into a string
340 422-06, – 340 480-06
9 – 136
9073
Copy a string to a byte block
340 422-07, – 340 480-07
9080
Clear the small PLC window
8 – 105
9081
Interrogating the status of the small PLC window
8 – 105
9082
Show a string in the small PLC window
8 – 106
9083
Show a moving-bar diagram in the small PLC window
8 – 107
9084
Display PLC error messages with additional 340 422-09, – data 340 480-09
9085
Display PLC error messages
8 – 27
9086
Delete PLC error message
8 – 28
9087
Status of PLC error message
8 – 28
9088
Displaying the M functions
8 – 11
9089
Control in operation
8 – 12
9090
Select a line in the pallet table
8 – 171
9091
Find the line number of a tool in the tool table
8 – 263
9092
Search for an entry in the tables selected for execution (.T/.D/.TCH)
8 – 240
9093
Read data from tables selected for program (.T/.D/.TCH)
8 – 242
9094
Write data into a tool and datum table
8 – 243
9095
Select active line in configuration file
6 – 46
HEIDENHAIN Technical Manual iTNC 530
Module Function
September 2006
SW Vers.
Page
9096
Delete a line in the tool table
8 – 244
9097
Selecting the geometry description
6 – 88
9098
Finding the active geometry description
6 – 87
9100
Assign data interface
10 – 43
9101
Release data interface
10 – 44
9102
Status of data interface
10 – 44
9103
Transmit string through data interface
10 – 45
9104
Receive string through data interface
10 – 46
9105
Transmit binary data through data interface
10 – 47
9106
Receive binary data through data interface
10 – 48
9107
Read from receiving buffer
10 – 49
9110
Transmit a message via LSV2
10 – 50
9111
Receive a message via LSV2
10 – 51
9112
Transmit ASCII characters via data interface
10 – 52
9113
Receive ASCII characters via data interface
10 – 53
9120
Starting a PLC axis
6 – 28
9121
Stop PLC axis
6 – 28
9122
Status of PLC axis
6 – 29
9123
Traverse the reference marks of PLC axes
6 – 30
9124
Feed rate override for PLC axis
6 – 30
9125
Stop PLC axis at next Hirth grid position
6 – 31
9130
Output of an analog voltage
8 – 198
9133
Hardware information of the MC 42x(B)
6 – 249 6 – 251
9135
Switch on 3-D touch probe
8 – 206
9136
Switching the touch probe on/off
340 420-06 8 – 206
9137
Diagnostic information of the PL 510
340 422-05, 8 – 189 340 480-05
9138
Read analog input of the PL 510
340 422-05, 8 – 197 340 480-05
9139
Reset short-circuit monitoring of the outputs on the PLD 16-8
340 422-05, 8 – 190 340 480-05
9140
Set axis-specific feed-rate limit
340 422-06, – 340 480-06
Overview of Modules
5–5
5–6
Module Function
SW Vers.
9141
Read axis-specific feed-rate limit
340 422-06, – 340 480-06
Page
9145
Actual-to-nominal value transfer
6 – 200
9146
Saving and reestablishing actual position values
6 – 306
9147
Assigning a reference value to an axis
6 – 147
9148
Use nominal value as actual value
340 420-06 8 – 202
9149
Only CC 424: Set field angle/read via PLC
340 490-01 7 – 36
9151
Select traverse range and axis designation
6 – 22
9152
Selecting traverse range, axis display and axis designation
6 – 23
9153
Switching the touch probe axis
8 – 208
9155
Axis switchover from closed loop to open loop
6 – 307
9156
Axis switchover from open loop to closed loop
6 – 307
9157
Drive controller status
6 – 218
9158
Maximum torque
6 – 229
9159
Advance status report: Drives will be switched off
6 – 218
9160
Status request for temperature monitoring and I2t monitoring
6 – 256
9161
Enable the drive controller
6 – 218
9162
Status request of the drive controller
6 – 219
9163
Switching the operating modes
6 – 302
9164
Reading the actual speed value of the motor
6 – 203
9165
Sample the current motor temperature
6 – 249
9166
Momentary utilization of the drive motor
6 – 262
9167
Supply voltage monitoring
6 – 248
9168
Interrogating the commissioning status
6 – 340
9169
Axes for which I32 does not switch off the drives
6 – 219
9170
Finding the current torque
9171
Oriented spindle stop
9175
Spindle switchover
9179
Status information about spindle(s)
9180
Simulation of NC keys
340 490-01 6 – 292 6 – 304 340 422-10, 6 – 304 340 480-10 8 – 142
HEIDENHAIN Technical Manual iTNC 530
Module Function
September 2006
SW Vers.
Page
9181
Disabling individual NC keys
8 – 142
9182
Re-enabling individual NC keys
8 – 143
9183
Disabling groups of NC keys
8 – 143
9184
Re-enabling groups of NC keys
8 – 144
9185
Disable touchpad/Interrogate status
8 – 144
9186
Call a soft-key function
8 – 144
9187
Status of a soft-key function call
8 – 145
9189
Shut down the control
8 – 67
9190
Starting the operating times
8 – 20
9191
Stopping the operating times
8 – 20
9192
Reading the operating times
8 – 21
9193
Setting the operating times
8 – 21
9194
Alarm when operating time exceeded
8 – 22
9195
System time
8 – 22
9196
Find the PLC cycle time
9–3
9197
Start the cycle timer
9 – 58
9200
Display/delete PLC soft-key row
8 – 139
9201
Display/delete PLC soft key
8 – 140
9202
Select/deselect PLC soft keys and PLC windows
8 – 140
9203
Activate PLC soft-key menu
8 – 129
9204
Update the PLC soft keys
8 – 130
9205
Setting the word for acknowledgment of PLC soft keys
8 – 131
9206
Change setting of the PLC soft keys
8 – 132
9207
Replace PLC soft keys
8 – 133
9208
Status information of the PLC soft keys
8 – 134
9210
Opening or erasing screen mask for the PLC window
8 – 120
9211
Status of the large PLC window
8 – 121
9215
Activating a PLC pop-up window
9216
Pop-up window with tool selection list
340 420-03 8 – 250
9217
Pop-up window for messages
340 422-03, 8 – 34 340 480-03
9220
Renewed traversing of the reference marks
Overview of Modules
8 – 32
6 – 151
5–7
Module Function
5–8
SW Vers.
Page
9221
Starting a PLC positioning movement
6 – 33
9222
Status request of PLC positioning movement
6 – 34
9223
Free rotation
9224
Stop PLC positioning movements
8–7 340 49x-01 6 – 35
9225
Compensation value for the reference mark
6 – 146
9230
Datum shift
8 – 203
9231
Compensation of thermal expansion
6 – 48
9240
Open a file
8 – 162
9241
Close a file
8 – 163
9242
Positioning in a file
8 – 164
9243
Read from a file line by line
8 – 165
9244
Write to a file line by line
8 – 166
9245
Read a field in a table
8 – 154
9246
Write to a field in a table
8 – 156
9247
Search for a condition in a table
8 – 158
9250
Starting the PLC editor for tables
8 – 160
9251
Ending the PLC editor for tables
8 – 161
9252
Positioning the cursor in the PLC editor
8 – 161
9255
Reading a field from a table as an integer value
8 – 155
9256
Write to a field in a table
8 – 157
9260
Receiving events and waiting for events
9 – 145
9261
Sending events
9 – 146
9262
Context change between spawn processes
9 – 147
9263
Interrupting a spawn process for a defined time
9 – 147
9270
Reading a code word
9 – 29
9271
Writing a code word
9 – 29
9275
Write ASCII data into the log
8 – 92
9276
Write operand contents into the log
9277
Writing data into the OEM log
8 – 93
9279
Control reset
8 – 67
9280
Start the NC macro (Run pallet entry)
8 – 175
340 422-09, 8 – 93 340 480-09
9281
Select a line in the pallet table
8 – 172
9282
Tool usage test for pallet table
340 422-10, 8 – 265 340 480-10
HEIDENHAIN Technical Manual iTNC 530
Module Function
September 2006
SW Vers.
Page
9290
Selecting a file
8 – 150
9291
Calling an NC macro
9 – 31
9300
Locking/releasing the pocket table
8 – 256
9301
Find the number of an entry in the pocket table
8 – 258
9302
Search for a vacant pocket in the tool magazine
8 – 258
9304
Copying columns P1 to P5 to the pocket table
9305
Tool exchange in the pocket table
8 – 256
9306
Exchange tools between tool magazines
8 – 259
9310
Read the machine parameter from the run-time memory
4 – 12
340 420-03 8 – 251
9320
Status of the NC program end
8 – 43
9321
Find the current block number
340 420-06 8 – 40
9322
Information of the current NC program
340 422-09, 8 – 41 340 480-09
9340
Searching for a pocket depending on magazine rules
340 420-03 8 – 252
9341
Editing a pocket table depending on magazine rules
340 420-03 8 – 253
9342
Find magazine and pocket number
340 420-06 8 – 254
9343
Compilation and activation of magazine rules
340 422-10, 8 – 255 340 480-10
9350
Read data from the tool table
340 422-07, 8 – 235 340 480-07
9351
Write data to tool table
340 422-07, – 340 480-07
Overview of Modules
5–9
✎
5 – 10
HEIDENHAIN Technical Manual iTNC 530
5.2 Overview of Markers and Words A list of PLC operands with brief description in English and German (GLB_NC_de.DEF, GLB_NC_en.DEF) is on the control under PLC:\JH\. Operand
Description
Set
Reset SW Vers.
Page
M
1900 1999
Decoded M function if M4571 is set
NC
NC
8 – 60
M
4000
Spindle in position
NC
NC
6 – 292
M
4001
Nominal speed command signal of the spindle not in the ramp
NC
NC
6 – 281
M
4002
Nominal speed value = 0
NC
NC
6 – 281
M
4003
Nominal speed value output analog or digital NC (MP3010 = 3 to 8)
NC
6 – 279
M
4004
Impermissible speed was programmed
NC
NC
6 – 283
M
4005
Status display and nominal speed value output for M03
PLC
PLC
6 – 282, 8 – 10
M
4006
Status display and nominal speed value output for M04
PLC
PLC
6 – 282, 8 – 10
M
4007
Status display M05 and spindle stop
PLC
PLC
6 – 282, 8 – 10
M
4008
Disable speed output for spindle
PLC
PLC
6 – 282, 8 – 10
M
4009
Counterclockwise spindle rotation (for gear change)
PLC
PLC
6 – 284
M
4010
Clockwise spindle rotation (for gear change)
PLC
PLC
6 – 284
M
4011
Activate rotational speed MP3520.0 and direction of rotation from M4013
PLC
PLC
6 – 294
M
4012
Opening the spindle control loop
PLC
PLC
6 – 292, 8 – 212
M
4013
Direction for spindle orientation from a standstill (M03 = 0; M04 = 1)
PLC
PLC
6 – 294
M
4014
Reverse the direction of spindle rotation
PLC
PLC
6 – 282
M
4015
Renewed evaluation of the spindle reference mark
PLC
NC
6 – 292
M
4016
Cycle 13 is executed
NC
PLC
6 – 294
M
4017
Spindle moving in feedback control
NC
NC
6 – 292
M
4018
Reference mark for spindle not yet traversed
NC
NC
6 – 292
M
4019
Reversing the counting direction of the position encoder on the spindle
PLC
PLC
6 – 282
M
4030
Cycle 2 or Cycle 17 active
NC
NC
6 – 296, 6 – 300
M
4031
Cycle 17 or Cycle 18 active
NC
NC
6 – 300
September 2006
Overview of Markers and Words
5 – 11
Operand
Description
Set
Reset SW Vers.
Page
M
4040
Status display M07, M08, and M09 highlighted
PLC
PLC
8 – 10
M
4041
Status display M07, M08, M09, MK
PLC
PLC
8 – 10
M
4042
Status display M07, M08, M09, MK
PLC
PLC
8 – 10
M
4050
Touch probe not ready, ready signal is missing
NC
NC
8 – 205
M
4051
Stylus deflected before start of probing cycle
NC
NC
8 – 205
M
4052
Stylus is deflected, probing process is completed
NC
PLC
8 – 205
M
4053
Probing process has been completed or canceled
NC
NC
8 – 205
M
4054
Battery voltage too low (battery warning at touch probe connection); evaluated only during the probing process
NC
NC
Not 8 – 205 supported as of 340 422-03, 340 480-03
M
4055
Enable the probing process
NC
PLC
8 – 205
M
4056
NC stop in all operating modes if stylus is deflected
PLC
PLC
8 – 205
M
4057
Touch probe cycles active (FN17: ID990 NR2)
NC
NC
M
4060
Cycle for tool measurement started
NC
NC
8 – 228
M
4061
0: Measure the tool 1: Check the tool
NC
NC
8 – 228
M
4062
0: Wear tolerance not exceeded 1: Wear tolerance exceeded
NC
NC/ PLC
8 – 228
M
4063
0: Breakage tolerance not exceeded 1: Breakage tolerance exceeded
NC
NC/ PLC
8 – 228
M
4065
Workpiece dimensions are OK
NC
PLC
8 – 213
M
4066
Workpiece must be reworked
NC
PLC
8 – 213
M
4067
Workpiece is scrap
NC
PLC
8 – 213
M
4070
Strobe signal for gear code
NC
NC
6 – 284
M
4071
Strobe signal for S code
NC
NC
6 – 287
340 422-09, – 340 480-09
M
4072
Strobe signal for M functions
NC
NC
8 – 60
M
4073
Strobe signal T code (P code) with TOOL CALL
NC
NC
8 – 275, 8 – 293
M
4074
Strobe signal T code (P code) with TOOL DEF
NC
NC
8 – 275, 8 – 293
M
4075
Transfer active with FN19
NC
NC
9 – 33
M
4090
Acknowledgment of “gear change completed”
PLC
PLC
6 – 284
M
4091
Acknowledgment of S code
PLC
PLC
6 – 287
M
4092
Acknowledgment of M functions
PLC
PLC
8 – 60
5 – 12
HEIDENHAIN Technical Manual iTNC 530
Operand
Description
Set
Reset SW Vers.
Page
M
4093
Acknowledgment of T code (P code) with TOOL CALL
PLC
PLC
8 – 275, 8 – 293
M
4094
Acknowledgment of T code (P code) with TOOL DEF
PLC
PLC
8 – 275, 8 – 293
M
4095
Acknowledgment of transfer with FN19
PLC
PLC
9 – 33
M
4120 4128
PLC positioning axis 1 to 9 active
NC/ PLC
NC/ PLC
6 – 36
M
4130
Activation of spindle orientation, or spindle orientation has been started with Module 9171
NC/ PLC
NC
6 – 294
M
4131
Activation of Q-parameter transfer to the PLC NC; data from D258, Q number from W516
NC
9 – 34
M
4132
Activate datum shift from D528 to D544, or PLC call Module 9230
NC
8 – 203
M
4133
Starting and stopping the free rotation function
PLC
NC
8–8
M
4134
Activation of a gear range and speed through the PLC
PLC
NC
6 – 284
M
4135
Strobe marker for selecting the traverse range
PLC
NC
6 – 21
M
4150
Operating mode: Manual operation
NC
NC
8 – 17
M
4151
Operating mode: Electronic handwheel
NC
NC
8 – 17
M
4152
Operating mode marker
NC
NC
Expands 340 49x-02
8 – 17
NC
NC
Expands 340 49x-02
8 – 17
NC
NC
Expands 340 49x-02
8 – 17
Positioning with Manual Data Input RUN ACTIVE UNIT M
4153
Operating mode marker Program Run, Single Block RUN SINGLE UNITS
M
4154
Operating mode marker Program Run, Full Sequence RUN ALL UNITS
M
4155
Operating mode: Traversing the reference marks
NC
NC
8 – 17
M
4156
MANUAL TRAVERSE soft key pressed
NC
NC
8 – 52
M
4157
Returning to the contour (MOVE TO POSITION) is active
NC
NC
8 – 52
M
4158
Block scan active
NC
NC
8 – 52
M
4159
PLC editor: END key or soft key pressed
NC
NC/ PLC
8 – 160
M
4160
Pallet table selected
NC
NC
–
M
4161
M/S/T/Q transfer after block scan
NC
NC
8 – 54
M
4163
Alternative operating mode smarT.NC is active
NC
NC
September 2006
Overview of Markers and Words
340 49x-01
8 – 17
5 – 13
Operand
Description
Set
Reset SW Vers.
Page
M
END PGM, M02 or M30 was executed
NC
NC
8 – 50
4170
M
4172
1st PLC scan after power on
NC
NC
–
M
4173
1st PLC scan after interruption of the PLC program
NC
NC
–
M
4174
1st PLC scan after editing the MPs (MP edit was exited and the MPs were altered)
NC
NC
–
M
4175
Program interruption, control-in-operation symbol is blinking
NC
NC
8 – 12
M
4176
Control is in operation, control-in-operation symbol is on or is blinking
NC
NC
8 – 12
M
4177
Erasable error message is displayed
NC
NC
6 – 269
M
4178
Error message EMERGENCY STOP is displayed
NC
NC
6 – 269
M
4179
Control is being shut down
NC
NC
8 – 66
M
4180
Rapid traverse programmed (FMAX)
NC
NC
8 – 10
M
4181
NC program selected
NC
PLC
8 – 42
M
4182
AUTOSTART active
NC
NC
8 – 44
M
4183
Time from AUTOSTART expired
NC
NC
M
4185
Internal stop performed
NC
PLC
340 420-06 8 – 43
M
4186
NC program is active in the Test Run mode NC
NC
340 49x-01
M
4200
Overflow during multiplication
NC
PLC
9 – 96, 9 – 109, 9 – 138
M
4201
Division by 0
NC
PLC
9 – 97, 9 – 109, 9 – 138
M
4202
Incorrectly executed modulo
NC
PLC
9 – 98, 9 – 109, 9 – 138
M
4203
Error status for PLC module
NC
NC/ PLC
9 – 109, 9 – 138
M
4204
Reserved for errors that the PLC programmer would like to catch
NC
NC
9 – 138
M
4220
Error from PET table with F stop active
NC
NC
8 – 26, 8 – 31
M
4221
Error from PET table with NC stop active
NC
NC
8 – 26, 8 – 31
M
4222
Error from PET table with EM. STOP active
NC
NC
8 – 26, 8 – 31
5 – 14
8 – 44 8 – 17
HEIDENHAIN Technical Manual iTNC 530
Operand
Description
Set
Reset SW Vers.
M
4223
Error from PET table with NC Cancel active
NC
NC
340 422-10, 8 – 26, 340 480-10 8 – 31
Page
M
4227
PLC error message with priority 0 (error)
NC
NC
340 422-10, 8 – 26 340 480-10
M
4228
PLC error message with priority 1 (warning) NC
NC
340 422-10, 8 – 26 340 480-10
M
4229
PLC error message with priority 2 (info)
NC
NC
340 422-10, 8 – 26 340 480-10
M
4230
NC start via LSV2
NC
NC
8 – 147
M
4231
NC stop via LSV2
NC
NC
8 – 147
M
4300 4315
Value from MP4310.0
NC
NC
9 – 51
M
4316 4331
Value from MP4310.1
NC
NC
9 – 51
M
4332 4347
Value from MP4310.2
NC
NC
9 – 51
M
4348 4363
Value from MP4310.3
NC
NC
9 – 51
M
4364 4379
Value from MP4310.4
NC
NC
9 – 51
M
4380 4395
Value from MP4310.5
NC
NC
9 – 51
M
4396 M4411
Value from MP4310.6
NC
NC
9 – 51
M
4520
Additional T code (P code) follows with TOOL CALL
NC
NC
8 – 277, 8 – 293
M
4521
Tool number zero programmed
NC
NC
8 – 275
M
4522
Tool with pocket number programmed is in NC effect with MP7480.0 = 3 or 4 and TOOL CALL
NC
8 – 277
M
4523
Tool without pocket number programmed is NC in effect with MP7480.0 = 3 or 4 and TOOL CALL
NC
8 – 277
M
4524
Special tool called, TOOL CALL
NC
NC
8 – 277, 8 – 293
M
4525
TOOL CALL after expiration of tool life
NC
NC
8 – 277
M
4526 4534
Axis 1 to Axis 9 is the tool axis
NC
NC
6 – 19
M
4538
Geometry of the tool from W264
PLC
NC
8 – 52, 8 – 275
M
4539
Tool number highlighted in the status display
PLC
PLC
–
September 2006
Overview of Markers and Words
5 – 15
Operand
Description
Reset SW Vers.
Page
M
4540
Sequence of tool number or pocket number PLC transfer (M4520 = 1)
Set
PLC
8 – 277, 8 – 293
M
4541
Special tool in original pocket in spite of variable pocket coding
PLC
PLC
8 – 260, 8 – 277, 8 – 293
M
4542
Do not update pocket number in the pocket PLC table
PLC
8 – 52, 8 – 277
M
4543
Tool life 1 expired (TIME1 in the tool table)
NC
NC/ PLC
8 – 262
M
4546
Tool life 2 expired (TIME2 in the tool table)
NC
NC/ PLC
8 – 262
M
4547
T and G strobes with TOOL CALL
NC
NC
6 – 284, 8 – 275
M
4560
NC stop (0: Stop)
PLC
PLC
8 – 147
M
4561
Rapid traverse
PLC
PLC
8 – 147
M
4562
Memory function for axis direction keys (MP7680 Bit 0 = 1)
PLC
PLC
8 – 147
M
4563
Feed-rate enable for all axes
PLC
PLC
6 – 199
M
4564
NC start
PLC
PLC
8 – 147
M
4570
Unit of measure for transfer with FN19
NC
NC
9 – 33
M
4571
Activation of decoded M-code transfer in M1900 to M1999
PLC
PLC
8 – 60
M
4574
Select the traverse range (with M4575)
PLC
PLC
6 – 21, 8 – 209
M
4575
Select the traverse range (with M4574)
PLC
PLC
6 – 21, 8 – 209
M
4576
Locking the handwheel
PLC
PLC
8 – 177
M
4577
Disabled key was pressed
NC
PLC
8 – 141
M
4579
INCREMENT OFF/ON soft key
NC
NC
8 – 199
M
4580
Suppress EMERGENCY STOP, open all position control loops, NC stop
PLC
PLC
6 – 197, 6 – 269
M
4581
Open all position control loops, NC stop, activate “Approach position”
PLC
PLC
6 – 197
M
4586
Enable AUTOSTART
PLC
NC/ PLC
8 – 44
M
4587
Rescind feed rate limit above F MAX
PLC
PLC
6 – 194
M
4589
Activate datum management via preset table
NC
NC
8 – 39
M
4590
Status fast PLC input from MP4130.2
NC
PLC
9 – 61
5 – 16
HEIDENHAIN Technical Manual iTNC 530
Operand
Description
Set
Reset SW Vers.
Page
M
4591
Status fast PLC input from MP4130.3
NC
PLC
9 – 61
M
4592
Status fast PLC input from MP4130.4
NC
PLC
9 – 61
M
4593
Status fast PLC input from MP4130.5
NC
PLC
9 – 61
M
4600
Faulty internal communication between HeROS and Windows 2000
NC
NC
340 480-06
M
4620
Enable LIFTOFF function
PLC
NC/ PLC
340 422-06, – 340 480-06
M
4622
Delay NC macro with RESETINIT = from NCMACRO.SYS
PLC
PLC
340 422-10, 6 – 151 340 480-10
M
4660
HR 420 assumes control
NC
NC
340 422-09, – 340 480-09
M
4661
NC start on HR 420
NC
NC
340 422-09, – 340 480-09
M
4662
NC stop on HR 420
NC
NC
340 422-09, – 340 480-09
M
4663
Rapid traverse key on HR 420
NC
NC
340 422-09, – 340 480-09
M
4664
Spindle start on HR 420
NC
NC
340 422-09, – 340 480-09
M
4665
Spindle stop on HR 420
NC
NC
340 422-09, – 340 480-09
M
4666
+ key on HR 420
NC
NC
340 422-09, – 340 480-09
M
4667
– key on HR 420
NC
NC
340 422-09, – 340 480-09
M
4668
CTRL key on HR 420
NC
NC
340 422-09, – 340 480-09
M
4753
Write errors from PLC modules in the PLC log
PLC
PLC
340 422-09, – 340 480-09
M
4754
Write diagnostic information in MYDEBUG.LOG
PLC
PLC
340 422-10, 8 – 86 340 480-10
September 2006
Overview of Markers and Words
–
5 – 17
Marker
Description
Set
Reset SW Vers.
Page
W
256
Gear code
NC/ PLC
NC/ PLC
6 – 284
W
258
S code
NC
NC
6 – 287
W
260
Code for M functions
NC
NC
8 – 60
W
262
Tool pocket number
NC
NC
8 – 275, 8 – 293
W
264
Tool number
NC
NC
8 – 275, 8 – 293
W
266
Index number of a programmed indexed tool NC
NC
8 – 263
W
268
Tool magazine number
NC
8 – 257
W
270
Line number in help file
NC
NC
W
272
Operating mode
NC
NC
NC
8 – 30 Expands 340 49x-02
8 – 17
W
274
Code of the depressed key
NC
NC
8 – 141
D
276
Code of the code number last entered via MOD
NC
NC
8 – 70
D
280
First numerical value from FN19
NC
NC
9 – 33
D
284
Second numerical value from FN19
NC
NC
9 – 33
W
302
Number of the horizontal PLC soft key that was pressed
NC
NC
8 – 138
W
304
Number of the vertical PLC soft key that was NC pressed
NC
8 – 129
W
320
Nominal speed value [rpm]
NC
NC
6 – 279
W
322
Actual speed value [rpm]
NC
NC
6 – 279
D
356
Programmed speed [0.001 rpm]
NC
NC
6 – 279, 6 – 284
D
360
Programmed feed rate
NC
NC
6 – 194
D
364
Nominal speed value [rpm]
NC
NC
6 – 279
D
368
Actual speed value [rpm]
NC
NC
6 – 279
D
372
Maximum spindle speed including spindle override [rpm]
NC
NC
6 – 279
D
388
Current contouring feed rate [mm/min]
NC
NC
6 – 194
W
480-484
Analog input at X48 [0.1 V]
NC
NC
8 – 195
W
486 - 490
Temperature input at X48 [0.5 °C]
NC
NC
6 – 47, 8 – 195
W
492
Percentage for spindle override (NC to PLC) NC
NC
6 – 286
W
494
Percentage for feed-rate override (NC to PLC)
NC
NC
8 – 10
W
516
Q No. 0-7 for numerical data transfer PLC to NC
PLC
PLC
9 – 34
5 – 18
HEIDENHAIN Technical Manual iTNC 530
Marker
Description
Set
Reset SW Vers.
Page
518
Defining the free rotation function
PLC
PLC
8–8
B
519
Traverse direction for free rotation
PLC
PLC
8–8
W
522
Enabling the high-speed PLC inputs
PLC
PLC
6 – 239, 9 – 61
W
524
Open the control loop if drive enabling via X150/X151 is missing
PLC
PLC
6 – 217
D
528
Double word with multiple function, here data for transfer from PLC to NC
PLC
PLC
9 – 34
D
528 - 544
Target position for PLC positioning
PLC
PLC
6 – 36
D
528 - 544
Datum shift for axis 1 to 5
PLC
PLC
8 – 203
W
560 - 568
Feed rate for PLC positioning
PLC
PLC
6 – 36, 8–8
W
576 - 584
Lag-tracking axis error compensation
PLC
PLC
6 – 47
D
592
Nominal position for spindle orientation
PLC
PLC
6 – 294
D
596
Max. feed rate from PLC [mm/min]
NC/ PLC
PLC
6 – 194
D
604
Maximum possible spindle speed
PLC
NC/ PLC
6 – 279
W
754
% function for feed-rate override for free rotation
PLC
PLC
8–8
D
756
Programmed rotational speed or rotational speed of the PLC [0.001 rpm]
NC/ PLC
NC/ PLC
6 – 284
D
760
Offset in tilting axes touch probe center offset [1/10 000°]
PLC
PLC
8 – 212
W
764
Percentage for spindle override (PLC to NC) NC/ PLC
NC/ PLC
6 – 286
W
766
Percentage for feed-rate override (PLC to NC)
NC/ PLC
8 – 10
B
NC/ PLC
D
768 - 956
Values from MP4210.0 to MP4210.47
NC
NC
9 – 50
W
960 - 968
Value from MP4220.0 to MP4220.4
NC
NC
9 – 51
W
976 - 988
Value from MP4310.3 to MP4310.6
NC
NC
9 – 51
W
1008
S code for minimum speed
NC
NC
6 – 287
W
1016
PLC module that was last processed erroneously
NC
NC
–
W
1018
Number of files opened by the PLC
NC
NC
8 – 151
W
1020
Number of open files
NC
NC
8 – 151
W
1022
Error status of the last called PLC module
NC
NC
–
W
1024
Axis enabling
NC
NC
6 – 197
W
1026
Axes in position
NC
NC
6 – 245
W
1028
Axes in motion
NC
NC
6 – 246
September 2006
Overview of Markers and Words
5 – 19
Marker
Description
Set
Reset SW Vers.
Page
W
1030
Current direction of traverse
NC
NC
6 – 10
W
1032
Reference marks not yet traversed
NC
NC
6 – 151
W
1034
Positive software limit switch was traversed NC
NC
6 – 24
W
1036
Negative software limit switch was traversed
NC
NC
6 – 24
W
1038
Preparing opening of the position control loop
PLC
PLC
6 – 198
W
1040
Axis-specific opening of the position control PLC loop
PLC
6 – 198
W
1042
Deactivation of monitoring functions
PLC
PLC
6 – 238
W
1044
Actual-to-nominal value transfer
PLC
PLC
6 – 200
W
1046
Manual traverse in positive direction
PLC
PLC
8 – 147
W
1048
Manual traverse in negative direction
PLC
PLC
8 – 147
W
1054
Reference end position
PLC
PLC
6 – 151
W
1056
Lubrication pulse: Value in MP4050.x exceeded
NC
NC
6 – 25
W
1058
Resetting the accumulated distance
PLC
PLC
6 – 25
W
1060
Axis-specific feed-rate enable
PLC
PLC
6 – 199
W
1062
Lock the handwheel for specific axes
PLC
PLC
8 – 177
5 – 20
HEIDENHAIN Technical Manual iTNC 530
✎
September 2006
Overview of Markers and Words
5 – 21
5 – 22
HEIDENHAIN Technical Manual iTNC 530
6 Configuring the Axes and Spindle 6.1 Control Loops ................................................................................... 6 – 3 6.1.1 Selecting the Axes ..................................................................... 6 – 3 6.1.2 Axis Designation ........................................................................ 6 – 5 6.1.3 Encoders .................................................................................... 6 – 7 6.1.4 Assignment for Axes ............................................................... 6 – 14 6.1.5 Assignment for Spindles .......................................................... 6 – 15 6.1.6 Reading Axis Information ......................................................... 6 – 18 6.1.7 Traverse Ranges ...................................................................... 6 – 20 6.1.8 Lubrication Pulse ..................................................................... 6 – 25 6.2 PLC Axes ......................................................................................... 6 – 27 6.3 PLC Positioning .............................................................................. 6 – 32 6.4 Axis Error Compensation .............................................................. 6 – 37 6.4.1 Backlash Compensation .......................................................... 6 – 37 6.4.2 Linear Axis Error Compensation .............................................. 6 – 40 6.4.3 Nonlinear axis error compensation .......................................... 6 – 41 6.4.4 Compensation of Thermal Expansion ...................................... 6 – 47 6.4.5 Compensation of Reversal Spikes during Circular Traverse .... 6 – 49 6.4.6 Compensation of Static Friction ............................................... 6 – 51 6.4.7 Compensation of Sliding Friction (Only for Digital Axes) ......... 6 – 53 6.5 Tilting Axes ..................................................................................... 6 – 55 6.5.1 Determining the Mechanical Offset ........................................ 6 – 55 6.5.2 Calculating the Mechanical Offset up to Software 340 422-xx 6 – 69 6.5.3 Description for Configuring the Kinematics as of Software 340 490-xx ....................................................... 6 – 74 6.5.4 DCM – Dynamic Collision Monitoring ...................................... 6 – 99 6.5.5 Temperature Compensation with Tilting Axes ...................... 6 – 116 6.5.6 Changing the Milling Heads ................................................... 6 – 119 6.5.7 “Tilt Working Plane” Feature ................................................. 6 – 120 6.5.8 Automatic Compensation of Offset for Tilting Axes .............. 6 – 128 6.5.9 Virtual Tool Axis .................................................................... 6 – 131 6.5.10 Tilting Functions with Open-Loop Rotary Axes ................... 6 – 131 6.5.11 Cylindrical Surface ............................................................... 6 – 132 6.6 Synchronized Axes....................................................................... 6 – 134 6.6.1 Gantry Axes ........................................................................... 6 – 134 6.6.2 Master-Slave Torque Control ................................................. 6 – 138 6.7 Reference Marks........................................................................... 6 – 145 6.7.1 Definition ............................................................................... 6 – 145 6.7.2 Traversing the Reference Marks ........................................... 6 – 146 6.8 The Control Loop.......................................................................... 6 – 158 6.8.1 Relation Between Jerk, Acceleration, Velocity and Distance 6 – 160 6.8.2 Interpolator ............................................................................ 6 – 162 6.8.3 Position Controller ................................................................. 6 – 185 6.8.4 Speed Controller ................................................................... 6 – 202 6.8.5 Switching Drives On and Off ................................................. 6 – 212 6.8.6 Current Controller .................................................................. 6 – 221 6.8.7 Braking the Drives for an Emergency Stop and a Power Fail 6 – 223 6.8.8 Power and Torque Limiting .................................................... 6 – 226 6.8.9 Weakened Field Operation .................................................... 6 – 231
September 2006
6–1
6.9 Offset Adjustment........................................................................ 6 – 234 6.9.1 Offset Adjustment with Integral Factor ................................. 6 – 234 6.9.2 Offset Adjustment by Code Number ..................................... 6 – 234 6.10 Contouring Behavior.................................................................. 6 – 235 6.10.1 Radial Acceleration .............................................................. 6 – 235 6.10.2 Contour Velocity at Corners ................................................. 6 – 236 6.11 Monitoring Functions ................................................................ 6 – 238 6.11.1 Position Monitoring ............................................................. 6 – 240 6.11.2 Nominal Speed Value Monitoring ........................................ 6 – 243 6.11.3 Movement Monitoring ......................................................... 6 – 243 6.11.4 Standstill Monitoring ............................................................ 6 – 244 6.11.5 Positioning Window ............................................................. 6 – 245 6.11.6 Monitoring of the Power Supply Unit .................................. 6 – 247 6.11.7 Temperature Monitoring ...................................................... 6 – 249 6.11.8 Internal Power Supply and Housing Fan .............................. 6 – 251 6.11.9 I2t Monitoring ...................................................................... 6 – 251 6.11.10 Read Actual Utilization of Drive Motors ............................. 6 – 261 6.11.11 Determining the Current Torque of a Drive ....................... 6 – 263 6.11.12 Status of HEIDENHAIN Inverters ...................................... 6 – 264 6.11.13 Controlling the Motor Brakes ............................................ 6 – 266 6.11.14 EMERGENCY STOP Monitoring ........................................ 6 – 269 6.12 Spindle ........................................................................................ 6 – 273 6.12.1 Position Encoder of the Spindle .......................................... 6 – 274 6.12.2 Speed Encoder of the Spindle ............................................. 6 – 277 6.12.3 Analog and Digital Closed-Loop Spindle Control ................. 6 – 279 6.12.4 Coded Output of Spindle Speed .......................................... 6 – 287 6.12.5 Volts-per-Hertz Control Mode .............................................. 6 – 289 6.12.6 Oriented Spindle Stop ......................................................... 6 – 290 6.12.7 Tapping with Floating Tap Holder and Nominal Speed Output ........................................................ 6 – 295 6.12.8 Tapping with Floating Tap Holder and Coded Spindle-Speed Output .............................................. 6 – 297 6.12.9 Rigid Tapping ....................................................................... 6 – 298 6.12.10 Switching the Modes of Operation ................................... 6 – 302 6.12.11 Operating a Second Spindle .............................................. 6 – 303 6.12.12 C-Axis Operation ................................................................ 6 – 305 6.13 Integrated Oscilloscope ............................................................. 6 – 309 6.14 Commissioning........................................................................... 6 – 317 6.14.1 Power Module Table and Motor Table ................................ 6 – 317 6.14.2 PWM Frequencies of the CC 422 ........................................ 6 – 326 6.14.3 Field Orientation .................................................................. 6 – 330 6.14.4 Preparation .......................................................................... 6 – 334 6.14.5 Commissioning Digital Control Loops with TNCopt ............ 6 – 337 6.14.6 Commissioning of Digital Axes ............................................ 6 – 340 6.14.7 Commissioning the Digital Spindle ...................................... 6 – 368 6.14.8 Commissioning an Analog Axis ........................................... 6 – 373 6.14.9 Commissioning the Analog Spindle ..................................... 6 – 377 6.15 Block Diagram for iTNC 530 (with CC 422) .............................. 6 – 379 6.16 Block Diagram for iTNC 530 (with CC 424) .............................. 6 – 380 6.17 Block Diagram for iTNC 530 (with Analog Control Unit)........ 6 – 381
6–2
HEIDENHAIN Technical Manual iTNC 530
6 Configuring the Axes and Spindle 6.1 Control Loops 6.1.1 Selecting the Axes With MP10 you define which machine axes are to be operable. The bits may be changed during the run-time without a control reset. However, the bits to be changed must have been set before the control was switched on. Changing bits that had not been set leads to a control reset. MP10 Format: Input:
Screen display
Active axes %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Axis not active 1: Axis active
You can define how the axes are shown on the screen: 8
In MP100.x, assign a designation to each logical axis.
8
Define in MP7291.x the screen line in which the axis is to be displayed.
Rules for the display: NC axes are designated with uppercase letters. PLC axes are designated with lowercase letters. Axes that are not present are given a hyphen "-". MP100 Format: Input: MP100.0 MP100.1 MP100.2
Designation of axes -wvucbazyxWVUCBAZYX Characters 1 to 14 from the right represent axes 1 to 14 Designation of axes for traverse range 1 Designation of axes for traverse range 2 Designation of axes for traverse range 3
MP7291 Format: Input:
Display of axes on the screen SXYZABCUVWxyzabcuvwCharacters 1 to 14 from the right represent lines 1 to 14 Character 15 is the spindle “S”, which is always output in line 15. Display in traverse range 1 Display in traverse range 2 Display in traverse range 3
MP7291.0 MP7291.1 MP7291.2
September 2006
Control Loops
6–3
Assignment of axis keys IV and V
On the keyboard unit and the HR 4xx handwheel, you can assign the axis keys IV and V as desired. MP410 Input: MP410.3 MP410.4
Demo operation for NC axes
Assignment of axis keys IV and V Axis designation XYZABCUVWxyzabcuvwAxis key IV Axis key V
Operation of NC axes with MP12 enables the simulation of axis motors that are not present on the machine. This permits you to put into operation and test axes that have not yet been mounted on the machine. The following is required for this: The axis to be simulated must be completely configured in the machine parameters. For safety reasons, the PLC may not output any “drive and axis group enables” for the axes to be simulated while in demo operation. This might necessitate very comprehensive changes to the PLC program. MP12 Format: Input:
6–4
Axis-specific demo operation for NC axes %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Demo operation not active 1: Demo operation active
HEIDENHAIN Technical Manual iTNC 530
6.1.2 Axis Designation Principal axes X, Y, Z
The coordinate axes and their directions of motion are defined in the international standard ISO 841. An easy way to remember this system is to use the “right-hand rule”:
+Z
+X
+Y
Algebraic signs of the axes
When the programmer writes an NC program, he always assumes that the tool (not the workpiece) is in motion. If the machine moves its workpieceholding element (table) in a particular axis instead of the tool, then the direction of actual motion is opposite to the direction of axis motion. In this case the direction of motion is designated with the same algebraic sign as the axis direction, but with an apostrophe: +X´, +Y´ and +Z´:
+X
+X´
September 2006
Control Loops
6–5
Rotary axes A, B, C
The directions of the rotary axes A, B and C follow the “right-fist rule.” The fingers of the closed right hand point in the proper rotational direction of an axis when the thumb points in the direction of the associated linear axis:
+Z +Y
+C +B
+A
Secondary linear axes
+X
The secondary linear axes U, V and W are parallel to the principal axes X, Y and Z.
+Z +Y
+W +V
+U
6–6
+X
HEIDENHAIN Technical Manual iTNC 530
6.1.3 Encoders Position encoders report positions and movements of the machine to the control. The iTNC 530 operates with incremental and absolute encoders with EnDat interface. Signal period
For any given distance the position encoder supplies a fixed number of signal periods. The signal is subdivided 1024 times. To calculate the signal period, the control requires the following data: 8
In MP331.x, enter for each axis the length required for the number of signal periods given in MP332.x.
8
In MP332.x, enter for each axis the number of signal periods for the length given in MP331.x. Note Large input values in MP331.x and MP332.x cannot be read by the PLC!
The iTNC calculates the quotient:
MP331.x Signal period = -----------------------MP332.x
Note Digital axes: If no position encoder (MP110.x = 0) is connected, the data of the speed encoder must be entered in MP331.x and MP332.x. This also applies to speed encoders with EnDat interface, since the incremental track of the speed encoder is used for position feedback control. HEIDENHAIN offers incremental linear encoders with distance-coded reference marks. The nominal increment between two fixed reference marks depends on the encoder being used: 8
In MP334.x, enter for each axis the nominal increments between two fixed reference marks.
If the number of grating periods between the reference end position and the first reference mark exceeds the value from MP334.x, the error message Ref mark : incorrect spacing appears. This monitoring is turned off with MP334.x = 0.
September 2006
Control Loops
6–7
Example: LS 486C: Incremental linear encoder with distance-coded reference marks, grating period 20 µm (= one signal period covers 0.02 mm), nominal increment between reference marks is 20 mm. MP331.x = 0.02 MP332.x = 1 MP334.x = 20 mm =1000 (or 0) 0.02 mm MP331.x Input:
Distance for the number of signal periods in MP332 0.0001 to +1.797693135E+308 [mm] or [°]
MP332.x Input:
Number of signal periods for the distance in MP331 1 to +1.797693135E+308
MP334.x
Nominal increment between two fixed reference marks on encoders with distance-coded reference marks 1 to 65 535 0: 1000
Input:
External interpolation
If you connect encoders with TTL signals and an external interpolation unit through the TTL/1 VPP adapter to the control: 8
In MP340.x, enter the interpolation factor of the external interpolation unit.
MP340.x Input:
6–8
Interpolation factor for external interpolation 0 to 99 0 = 1: No external interpolation
HEIDENHAIN Technical Manual iTNC 530
Encoder signals
Position encoders with 1-VPP or 11- µAPP signals can be connected to the MC 42x(B). 8
With MP115.0, you set the 1-VPP or 11-µAPP signal.
8
With MP115.2, you set the maximum input frequency. Note The incremental track data must be entered for the corresponding position encoder inputs for encoders with EnDat interfaces.
September 2006
MP115.0 Format: Input:
Position encoder input 1 VPP or 11 µAPP %xxxxxxxxxxx Bit 0 to bit 5: Position encoder inputs X1 to X6 Bit 6 to bit 9: Position encoder inputs X35 to X38 Bit 10: No function 0: 1 VPP 1: 11 µAPP
MP115.1 Format: Input:
Reserved %xxxxxxxxxxx Enter %00000000000
MP115.2 Format: Input:
Input frequency of position encoder inputs %xxxxxxxxxxx Bit 0 to bit 5: Position encoder inputs X1 to X6 Bit 6 to bit 9: Position encoder inputs X35 to X38 Bit 10: No function For 1 VPP: 0: 33 kHz 1: 350 kHz For 11 µAPP:0: 33 kHz 1: 150 kHz
Control Loops
6–9
Direction of traverse
With MP210 and MP1040 you define the direction of traverse of the axes. The counting direction depends on the position in which the encoders are mounted. Configuration errors in these parameters provoke the error message MOVEMENT MONITORING ERROR IN . Through W1030 the NC informs the PLC of the direction in which the axes traverse. If the speed encoder is also used for position measurement, MP210 must be set for the speed encoder. Configuration errors in these parameters provoke the error message Standstill monitoring . MP210 Format: Input:
Counting direction of position encoder output signals %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Positive 1: Negative
MP1040
Analog axes: Polarity of nominal value voltage Digital axes: Algebraic sign of the nominal speed value %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Positive 1: Negative
Format: Input:
W1030
Current direction of traverse Bits 0 to 8 represent axes 1 to 9
Set
Reset
NC
NC
0: Positive traverse direction 1: Negative traverse direction
Note The counting direction of the speed encoder signals is defined in the motor table (DIR column). If the error message C3B0 Motor does not rotate appears, you must change this entry.
6 – 10
HEIDENHAIN Technical Manual iTNC 530
Encoder monitoring
HEIDENHAIN contouring controls monitor the signal transmission from the encoders. With machine parameters MP20.x and MP21.x you activate the monitoring function for the position encoders. The following criteria are checked: Criterion
Error message
Absolute position with distance- Encoder DEFECTIVE coded reference marks Amplitude of encoder signals
Encoder AMPLITUDE TOO LOW
Edge separation of encoder signals
Encoder : FREQUENCY TOO HIGH
MP20 Format: Input:
MP20.0 MP20.1 MP20.2 MP21 Format: Input:
MP21.0 MP21.1 MP21.2
Monitoring functions for the axes %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Monitoring not active 1: Monitoring active Absolute position of the distance-coded reference marks Amplitude of encoder signals Edge separation of encoder signals Monitoring functions for the spindle %xx Bit 0 – Spindle 1 0: Monitoring not active 1: Monitoring active Bit 1 – Spindle 2 0: Monitoring not active 1: Monitoring active Absolute position of the distance-coded reference marks Amplitude of encoder signals Edge separation of encoder signals
Note Please note: For digital axes the speed encoders are always monitored. For more information on error messages from speed encoders, see the “Error Messages” section.
September 2006
Control Loops
6 – 11
Monitoring for encoders with EnDat interface: In the event of a disturbance, the error message EnDat defective will appear. The error code is shown in hexadecimal notation. Error codes may also appear combined, in which case they add themselves together. There are two possible types of errors: The encoder reports an error. Access to the encoder via the EnDat interface is faulty. Codes for errors reported by the encoder:
6 – 12
Error code
Meaning
0x00000001
Light source defective
0x00000002
Signal amplitude too small
0x00000004
Incorrect position value
0x00000008
Overvoltage
0x00000010
Undervoltage
0x00000020
Overcurrent
0x00000040
Replace battery
0x00000080
Reserved
0x00000100
Reserved
0x00000200
Reserved
0x00000400
Reserved
0x00000800
Reserved
0x00001000
Reserved
0x00002000
Reserved
0x00004000
Reserved
0x00008000
Reserved
HEIDENHAIN Technical Manual iTNC 530
Error codes if the access to the encoder via the EnDat interface is faulty:
Speed encoder
Error code
Meaning
0x80010000
Delete the alarm bit
0x80020000
Read the alarm status
0x80040000
Read the number of pulses
0x80080000
Read the number of signal periods
0x80100000
Read the number of differentiable revolutions
0x80200000
Read the measuring steps
0x80400000
Read the series number
0x80800000
Read the type of encoder
0x81000000
Read the position value
0x82000000
Reserved
0x84000000
Reserved
0x88000000
Read the checksum
0x90000000
Alarm bit remains set
0xA0000000
Timeout while waiting for data - signal “high”
0xC0000000
Timeout while waiting for data - signal “low”
0x80000000
Error during access to EnDat interface
The iTNC 530 uses the Type of encoder entry in the “motor.mot” motor table. If an encoder with Z1 track is entered in the motor table, the message C310 Z1 track error appears in the event of an error. If an encoder with EnDat interface is entered in the motor table, the control attempts to communicate with the encoder. If this fails, the error message C3F0 EnDat not found appears. Warning If you use the HEIDENHAIN standard motor table motor.mot and motors with EnDat encoders, you might have to change the entry for the motor in the SYS column (type of encoder) of the motor table or enter a new motor. SYS = 1: Incremental rotary encoder with Z1 track SYS = 2: Absolute speed encoder with EnDat interface
September 2006
Control Loops
6 – 13
6.1.4 Assignment for Axes With the following machine parameters you assign the position and speed encoder inputs, the speed command output and the machine parameter block of the current and speed controller to the individual logic axes: 8
In MP110.x you enter the number of the position encoder input. An error message appears if an invalid number is entered.
8
In MP112.x you enter the number of the speed encoder input.
8
In MP120.x you enter the number of the speed command output (analog or digital).
8
In MP130.x you enter index number y of machine parameter block MP2xxx.y of the current and speed controller. This way different machine parameter blocks MP2xxx.y can be used for the axis and spindle in C-axis operation. Note Depending on the maximum spindle speed, it might no longer be possible to use all PWM outputs (see “Maximum spindle speed” on page 6 – 15).
If MP120.x = 0, then the axis will only be displayed. Digital axes: If MP110.x = 0, then the speed encoder (with or without EnDat interface) is also used for position control. Note For axes 7 to 10, only speed encoder inputs X80 to X83 and speed command outputs X57 to X60 can be used.
6 – 14
MP110.x Input:
Assignment of position encoder inputs to the axes 0: No position encoder input 1 to 6: Position encoder inputs X1 to X6 35 to 38: Position encoder inputs X35 to X38 201 to 214: Position encoder inputs X201 to X214
MP112.x Input:
Assignment of speed encoder inputs to the axes 0: No speed encoder input 15 to 20: Speed encoder inputs X15 to X20 80 to 87: Speed encoder inputs X80 to X87
MP120.x Input:
Nominal speed command outputs of the axes 0: No servo-controlled axis 1 to 6: Analog speed command outputs 1 to 6 (X8) 7 to 12: Analog speed command outputs 7 to 12 (X9) 51 to 64: Digital speed command outputs X51 to X64
MP130.x Input:
Y index of the machine parameters MP2xxx.y for the axes 0 to 17
HEIDENHAIN Technical Manual iTNC 530
6.1.5 Assignment for Spindles With the following machine parameters you assign the position and speed encoder inputs, the speed command output and the machine parameter block of the current and speed controller to the spindle/spindles: 8
In MP111.x you enter the number of the position encoder input. An error message appears if an invalid number is entered.
8
In MP113.x you enter the number of the speed encoder input.
8
In MP121.x you enter the number of the speed command output.
8
In MP131.x and MP132.x you enter index number y of machine parameter block MP2xxx.y of the current and speed controller.
First spindle
Second spindle
Position
Rotational speed
Nominal value Position
Rotational speed
Nominal value
X1 to X6, X35 to X38, X201 to X214
X15 to X20, X80 to X87
Digital: X51 to X64
X1 to X6, X35 to X38, X201 to X214
X15 to X20, X80 to X87
Digital: X51 to X64
X1 to X6, X35 to X38, X201 to X214
X15 to X20, X80 to X87
Digital: X51 to X64
X1 to X6, X35 to X38 X201 to X214
–
Analog: 1 to 12
X1 to X6, X35 to X38 X201 to X214
–
Analog: 1 to 12
X1 to X6, X35 to X38, X201 to X214
–
Analog: 1 to 12
Maximum spindle speed
The individual PWM outputs are assigned to different controller groups. The PWM frequency can be set separately for each of the controller groups. If PWM frequencies of > 5000 Hz are set for a controller group, it is no longer possible to use all PWM outputs of the controller group. Then only the first PWM output of the controller group can be used (see “PWM Frequencies of the CC 422” on page 6 – 326). The unused PWM outputs must not be entered in MP120.x or. MP121.x. Otherwise, the DSP error message C440 PWM frequency will appear. The maximum spindle speed is: n max
–1 f PWM ⋅ 60000 min = --------------------------------------p ⋅ 5000 Hz
nmax: Maximum spindle speed [rpm] fPWM: PWM frequency [Hz] p: Number of pole pairs
September 2006
Control Loops
6 – 15
MP111 Input:
MP111.0 MP111.1 MP113 Input:
MP113.0 MP113.1 MP121 Input:
MP121.0 MP121.1 MP131 Input: MP131.0 MP131.1 MP132 Input: MP132.0 MP132.1
6 – 16
Position encoder input for the spindle/spindles 0: No position encoder input 1 to 6: Position encoder inputs X1 to X6 35 to 38: Position encoder inputs X35 to X38 201 to 214: Position encoder inputs X201 to X214 Position encoder input for the first spindle Position encoder input for the second spindle Speed encoder for the spindle/spindles 0: No speed encoder input 15 to 20: Speed encoder inputs X15 to X20 80 to 87: Speed encoder inputs X80 to X87 Speed encoder for the first spindle Speed encoder for the second spindle Nominal speed command output of the spindle/spindles 0: No servo-controlled spindle 1 to 6: Analog speed command outputs 1 to 6 (X8) 7 to 12: Analog speed command outputs 7 to 12 (X9) 51 to 64: Digital speed command outputs X51 to X64 Nominal speed command output of the first spindle Nominal speed command output of the second spindle Y index of the machine parameters MP2xxx.y for the spindle(s) in operating mode 0 0 to 17 Y index of first spindle Y index of second spindle Y index of the machine parameters MP2xxx.y for the spindle(s) in operating mode 1 0 to 17 Y index of first spindle Y index of second spindle
HEIDENHAIN Technical Manual iTNC 530
✎
September 2006
Control Loops
6 – 17
6.1.6 Reading Axis Information Module 9038 Reading general axis information With Module 9038 you can interrogate the general status information of the axes. You can interrogate the status of a specific axis or of all axes at once. Bits 0 to 8 represent axes 1 to 9. Bit 15 corresponds to the spindle. If status information is read for only one axis, only bit 0 is changed. The following table shows the meanings of the return codes: Status Meaning information 0
0: Axis (spindle) not active (MP10 or MP3010 or no encoder) 1: Axis (spindle) active
1
Depending on the current traverse range: 0: NC axis or not active 1: PLC axis
2
0: No servo-controlled axis (spindle), only display or not active 1: Servo-controlled axis (spindle)
3
Maximum temperature of the motor [°C]
4
0: Not a Hirth axis 1: Hirth axis (MP420)
5
Hirth grid [1/10 µm] (MP430)
6
Modulo value (MP810)
7
0: Linear axis or not active 1: Rotary axis in at least one of the traverse ranges
8
0: Analog axis (spindle) or not active 1: Digital axis (spindle)
9
0: Not a slave axis 1: Slave axis
Call: PS
PS CM PL
B/W/D/K Axis-specific: 0 to 13 represent axes 1 to 14, 15 represents the spindle Bit-encoded output for all axes: –1 B/W/D/K See table above 9038 B/W/D
Error recognition: Marker
Value
Meaning
M4203
0
Information was read
1
Error code in W1022
1
Status information not available on this iTNC
2
Axis does not exist
W1022
6 – 18
HEIDENHAIN Technical Manual iTNC 530
Current tool axis
You can define the current tool axis in two ways in the NC block: In the HEIDENHAIN conversational dialog with TOOL CALL In ISO programming with G17 to G20 In the PLC you can interrogate the current tool axis via markers (only axis 0 to 9) or via module: This information is only available after each tool call with “TOOL CALL,” and is then updated after each tool call.
M4526 M4527 M4528 M4529 M4530 M4531 M4532 M4533 M4534
Axis 1 is tool axis Axis 2 is tool axis Axis 3 is tool axis Axis 4 is tool axis Axis 5 is tool axis Axis 6 is tool axis Axis 7 is tool axis Axis 8 is tool axis Axis 9 is tool axis
Set
Reset
NC NC NC NC NC NC NC NC NC
NC NC NC NC NC NC NC NC NC
Module 9035 Reading status information (current tool axis) Call: PS B/W/D/K CM 9035 PL B/W/D 0 to n: Axes 1 to n+1 –1: No information exists about the current tool axis Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
1
Status information invalid
W1022
September 2006
Control Loops
6 – 19
6.1.7 Traverse Ranges You can divide the working range of the machine into three traverse ranges, e.g. one for each workpiece. Each traverse range is limited by a software limit switch. For the software limit switch of a traverse range: The datum is the machine datum (MP960.x). Software limit switches for tilting axes must be activated with MP812 when MP810.x ≠ 0 The traverse range can be limited further through the MOD function. If a software limit switch is activated, the error message LIMIT SWITCH appears. Software limit switches can be overwritten with FN17:SYSWRITE, e.g. for automatic tool change. This function is effective only until the next GOTO command (GOTO key or FN9 to FN12) or the end of the program. Determining range of traverse
8
You can determine the current range of traverse with Module 9035
Module 9035 Reading status information Call: PS B/W/D/K CM 9035 PL B/W/D 0 to 2: Traverse ranges 1 to 3 Error recognition:
6 – 20
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
1
Status information invalid
20
Call was not in a submit or spawn job
HEIDENHAIN Technical Manual iTNC 530
Selecting the traverse range
You can switch the range of traverse in two ways: 8
Select the traverse range with Module 9151 or 9152. With Module 9152 you can change the axis display at the same time.
or 8
Select the traverse range with M4574 and M4575 according to the table below.
8
In all operating modes you must activate the traverse range with strobe marker M4135.
You may only use the traverse range switching function via M4574 and M4575 during an M/S/T/Q strobe in all operating modes (except for Manual Operation and El. Handwheel). M4574 M4575 Traverse range/Datum 0
0
Range 1
1
0
Range 2
0
1
Range 3
M4574 M4575 M4135
September 2006
Select the traverse range (with M4575) Select the traverse range (with M4574) Strobe marker for selecting the traverse range
Control Loops
Set
Reset
PLC
PLC
PLC
PLC
PLC
NC
6 – 21
Module 9151 Select traverse range and axis designation With Module 9151 you can select the traverse range and the axis designation in one step. The axis designations in MP100.x are overwritten and cannot be activated until the module has received the axis designation –1, a traverse range has been activated with M4135, MP100.x is edited, or the control has been reset. When the module is called it sets M4135. After switchover the NC resets M4135. Call: PS
PS
CM
B/W/D/K/S Format: XYZABCUVWxyzabcuvw Characters 1 to 9 represent axes 1 to 9 With –1 the axis designations from M100.x are valid B/W/D/K 0 to 2: Range of traverse –1: Do not change range of traverse 9151
Error recognition: Marker
Value
Meaning
M4203
0
Traverse range/axis designation switched over
1
Error code in W1022
2
Invalid value for traverse range
3
For the axis assignment, neither a string nor –1 was transferred
21
The module was called during a running part program or without an M/S/T/Q strobe
W1022
6 – 22
HEIDENHAIN Technical Manual iTNC 530
Module 9152 Selecting traverse range, axis display and axis designation With Module 9152 you can select the traverse range, the axis designation, and the axis display. The axis designations in MP100.x and the axis display in MP7291 are overwritten and cannot be activated until the module has received –1 for the axis designation and axis display, a traverse range has been activated with M4135, MP100.x or MP7291 have been edited, or the control has been reset. When the module is called it sets M4135. After switchover the NC resets M4135. Call: PS
PS
PS
PS
CM
B/W/D/K/S Format: AB The first character represents the IV key, the second Character represents the V key With –1 the key configuration from MP410 is valid B/W/D/K/S Format: SWVUCBAZYXwvucbazyx Characters 1 to 9 (from the right) represent lines 1 to 9 Character 10 = S always in line 10 With –1 the axis display from MP7291 is valid B/W/D/K/S Format: XYZABCUVWxyzabcuvw Characters 1 to 9 represent axes 1 to 9 With –1 the axis designations from M100.x are valid B/W/D/K 0 to 2: Range of traverse –1: Do not change range of traverse 9152
Error recognition: Marker
Value
Meaning
M4203
0
Traverse range, axis designation and axis display are switched
1
Error code in W1022
2
Invalid value for traverse range, or string for axis configuration, axis display or key configuration is too long
3
For the axis assignment, axis display or key configuration, neither a string nor –1 was transferred
21
The module was called during a running part program or without an M/S/T/Q strobe
W1022
September 2006
Control Loops
6 – 23
Setting the software limit switches
With the following machine parameters, you can set the software limit switches for the various ranges of traverse. The position values are with respect to the machine datum. Ranges of traverse 2 and 3 do not become effective until they are activated by M4574, M4575 and M4135 or with Module 9151 or 9152. Note The values for MP910.x, MP911.x, MP912.x, MP920.x, MP921.x and MP922.x can be transferred with the actual-position-capture key. MP910.x Input:
Positive software limit switches, traverse range 1 (default setting after power on) –99 999.9999 to +99 999.9999 [mm] or [°]
MP911.x Input:
Positive software limit switches, traverse range 2 –99 999.9999 to +99 999.9999 [mm] or [°]
MP912.x Input:
Positive software limit switches, traverse range 3 –99 999.9999 to +99 999.9999 [mm] or [°]
MP920.x Input:
Negative software limit switches, traverse range 1 (default setting after power on) –99 999.9999 to +99 999.9999 [mm] or [°]
MP921.x Input:
Negative software limit switches, traverse range 2 –99 999.9999 to +99 999.9999 [mm] or [°]
MP922.x Input:
Negative software limit switches, traverse range 3 –99 999.9999 to +99 999.9999 [mm] or [°]
MP7490 Format: Input:
Functions for traverse ranges %xxxx Bit 0 = 0: Display one traverse range via MOD Bit 0 = 1: Display three traverse ranges via MOD Bit 1 = 0: Each traverse range has its own datum (and 3 memories for the positions of the swivel head) Bit 1 = 1: One datum for all traverse ranges
The NC reports the activation of limit switches to the PLC in words W1034 and W1036:
W1034
W1036
6 – 24
Positive software limit switch was traversed Bits 0 to 13 represent axes 1 to 14 Negative software limit switch was traversed Bits 0 to 13 represent axes 1 to 14
Set
Reset
NC
NC
NC
NC
HEIDENHAIN Technical Manual iTNC 530
Special function M150
If NC blocks were used in the Positioning with Manual Data Input, Program Run Single Block, and Program Run Full Sequence operating modes to program positions that are outside of the traverse ranges, then normally the blocks containing this violation are not performed, and an error message is output. With M150 the block is traversed to at least shortly before the limit of the traverse range, despite this programming violation. Positioning is performed as close to the limit of the traverse range as possible. For example, if the limit is –600.000 and the programmed position is –700.000, M150 traverses to – 599.999. This means that the limit switch information for the PLC via W1045 and W1036 is not set, since the limit switch is not traversed to.
6.1.8 Lubrication Pulse You can define the traverse distance for each axis after which the PLC commands lubrication: 8
In MP4050.x you define the traverse distance at which the lubrication pulse is to be output. The NC reports in W1056 when the entered distance in an axis has been exceeded.
8
With W1058 you reset the distance counter to 0 after lubrication.
MP4050.0-8 Path-dependent lubrication of axes 1 to 9 Input: 0 to 99 999.999 [m or 1000°] Set W1056
W1058
September 2006
Lubrication pulse: Value in MP4050.x NC exceeded Bits 0 to 8 represent axes 1 to 9 Resetting the accumulated distance PLC Bits 0 to 8 represent axes 1 to 9
Control Loops
Reset NC
PLC
6 – 25
✎
6 – 26
HEIDENHAIN Technical Manual iTNC 530
6.2 PLC Axes You can assign the controlled axes individually to the PLC. The following rules apply: PLC axes can be operated with following error (also called lag) or with velocity feedforward control. The axis-specific jerk (MP1097.x and MP1098.x) is accounted for. You can start more than one axis simultaneously. However, the axes are not interpolated with each other. PLC axes are positioned by the shortest path if you enter a modulo value in MP810.x. Up to 20 commands (such as positioning, override settings, etc.) for PLC axes can be executed per run-through of the PLC program. With MP100.x you define for every traverse range which axes the PLC controls and which the NC controls. Uppercase letters represent NC axes, and lowercase letters represent PLC axes. To indicate axes that are not present, mark them with a hyphen (-). MP100 Format: Input: MP100.0 MP100.1 MP100.2
September 2006
Designation of axes XYZABCUVWxyzabcuvwBits 0 to 8 represent axes 1 to 9 Traverse range 1 Traverse range 2 Traverse range 3
PLC Axes
6 – 27
Module 9120 Starting a PLC axis This module starts the positioning of a PLC axis regardless of other processes in the control. Conditions: Status changes through a PLC positioning command are not detected until the next PLC scan. The axis must be activated in MP10 and identified in MP100 as a PLC axis. Traverse over the software limit switches is not checked. The axis must be stationary before positioning. Interrupt a running positioning movement with Module 9121. Feed-rate override is disabled. To change the feed rate, use Module 9124. If no reference mark has been traversed, the positioning process builds on the counter value as it was upon switch-on. Call: PS PS PS PS
CM PL
B/W/D/K 0 to 8 represent axes 1 to 9 B/W/D/K Input unit: [0.0001 mm] B/W/D/K Input unit: [mm/min] B/W/D/K Bit 0: Type of target position input 0: Absolute, i.e. relative to the machine datum 1: Incremental 9120 B/W/D 0: No error. Positioning was started. 1: Axis does not exist 2: Not a PLC axis 3: Axis is already being positioned 4: Absolute position is outside of modulo range 5: Programmed axis not in closed loop 6: Feed rate not permitted
Module 9121 Stop PLC axis Stops a running PLC positioning process in an axis. Condition: Status changes through a PLC positioning command are not detected until the next PLC scan. Call: PS CM PL
6 – 28
B/W/D/K 0 to 8 represent axes 1 to 9 9121 B/W/D 0: Positioning is canceled 1: Axis does not exist 2: Not a PLC axis 3: Axis was already stationary
HEIDENHAIN Technical Manual iTNC 530
Module 9122 Status of PLC axis Request for PLC positioning status. Condition: Status changes through the PLC positioning command are not detected until the next PLC scan. Call: PS CM PL
September 2006
B/W/D/K 0 to 8 represent axes 1 to 9 9122 B/W/D Bit 0 – A PLC axis? 0: NC axis or not active 1: PLC axis Bit 1 – Reference mark 0: Reference mark not yet traversed 1: Reference mark traversed Bit 2 – Positioning 0: Inactive 1: Active Bit 3 – Direction of motion 0: Positive 1: Negative Bit 4 – Positioning error 0: No positioning errors occurred 1: Positioning error Bit 5 – Closed-loop or open-loop axis 0: Closed-loop axis was programmed 1: Axis programmed which was switched to open-loop in Module 9155 Bit 6 – Target position reached? 0: Target position not yet reached 1: Target position reached
PLC Axes
6 – 29
Module 9123 Traverse the reference marks of PLC axes Traverse the reference marks as for NC axes. This module is not suitable for encoders with distance-coded reference marks (use Module 9220). You can use the same procedure to traverse a reference mark for PLC axes as for NC axes. Use Module 9123 only if no conventional procedure is possible. Module 9123 moves the axis in the given direction until the reference mark has been traversed. The axis stops next to the reference mark, offset by the braking path. Call: PS PS PS
CM PL
B/W/D/K 0 to 8 represent axes 1 to 9 B/W/D/K Input unit: [mm/min] B/W/D/K Bit 0: Direction of traverse 0: Positive 1: Negative 9123 B/W/D 0: No error. Positioning was started. 1: Axis does not exist 2: Not a PLC axis 3: Axis is already being positioned 5: Programmed axis not in closed loop 6: Feed rate not permitted
Module 9124 Feed rate override for PLC axis Enter a default feed-rate override for a PLC axis if positioning was started with Module 9120 or 9123. Conditions: After interruption of a PLC program, the override value is set to 100%. When a positioning is started, the last defined override value is in effect. The override value can also be changed during a positioning movement. Call: PS PS
CM PL
6 – 30
B/W/D/K 0 to 8 represent axes 1 to 9 B/W/D/K Input unit: 0 to 10 000, corresponds to 0 to 100% in 0.01% steps. 9124 B/W/D 0: No error, override value was set 1: Axis does not exist 2: Not a PLC axis 3: Override value incorrect
HEIDENHAIN Technical Manual iTNC 530
Module 9125 Stop PLC axis at next Hirth grid position Stop an already started PLC-positioning of an axis at the next Hirth grid position. Call: PS CM PL
September 2006
B/W/D/K 0 to 8 represent axes 1 to 9 9125 B/W/D 0: Positioning is canceled 1: Axis does not exist 2: Not a PLC axis 3: Axis was already stationary 4: Axis is not a Hirth axis (MP420.x)
PLC Axes
6 – 31
6.3 PLC Positioning You can position the axes directly through the PLC. For PLC positioning of the main spindle, see page 6 – 273. Prerequisites
The following constraints apply to a PLC positioning command: It is possible in the Manual and Handwheel modes only while there is no positioning movement. Possible in the other modes of operation only with an M/S/T/Q strobe or if no part program is started. If the NC is positioning an axis, you can position additional axes only if they have already been defined as PLC axes. See “PLC Axes” on page 6 – 27.
Programming
You start a PLC positioning movement with Module 9221, interrogate the status with Module 9222, and stop it ahead of time with Module 9224. After Module 9221 has been called, markers M4120 to M4128 are set (depending on MP4020 bit 2). If you reset these markers directly or program Module 9224 accordingly, positioning is canceled at the desired point in time. This is necessary if you would like to change a parameter, such as the feed rate, during positioning. The following conditions apply to a PLC positioning command: If more than one axis is moved simultaneously, the axes will be interpolated. If you start another axis during a PLC positioning movement, • the first positioning command will be canceled and • the resulting positioning movement will be executed in all axes. Tool compensation is not included. Before a PLC positioning command you must end any tool compensation. A PLC positioning movement is not displayed in the test graphics. PLC positioning is done without nominal position value filter. The NC cancels a PLC positioning movement under the following conditions: If in the Manual or Handwheel modes there is an NC STOP If in the automatic operating modes there is an NC STOP and “internal stop” An EMERGENCY STOP An error message that results in a STOP A reset of the Markers M4120 to M4128 (only for axis 1 to 9 and depending on MP4020 bit 2) Stopping of the positioning with Module 9224 (all axes)
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HEIDENHAIN Technical Manual iTNC 530
Module 9221 Starting a PLC positioning movement Starts a PLC positioning movement in one axis. Call: PS PS PS PS
CM PL
September 2006
B/W/D/K 0 to 13 represent axes 1 to 14 B/W/D/K Input unit: 0.0001 mm B/W/D/K Input unit: mm/min B/W/D/K Bit 0 – Definition of the target position 0: Absolute, i.e. relative to the machine datum 1: Incremental Bit 1 – Software limit switches 0: Inactive 1: Active Bit 2 – Reserved 9221 B/W/D 0: Positioning is being started 1: Axis is not in a closed loop or is an auxiliary axis 2: Inadmissible values for the feed rate 3: Axis has not traversed the reference mark 4: No M/S/T/Q strobe during started part program 5: Programmed axis not in closed loop 6: PLC positioning already started
PLC Positioning
6 – 33
Module 9222 Status request of PLC positioning movement With this module you can interrogate the status of a PLC positioning movement for an individual axis or bit-encoded. The status of an axis or all axes remains until a new status is set when the next PLC positioning of one or more axes occurs. Call: PS
B/W/DK
CM PL
9222 B/W/D
Interrogation of an axis: 0 to 13 represent axes 1 to 14 Interrogation of all axes: –1: Target position reached –2: PLC positioning was started –3: PLC positioning was cancelled –4: PLC positioning reached limit switch –5: PLC positioning not possible Interrogation of an axis: 0: No PLC positioning was started 1: Target position reached 2: PLC positioning was started 3: Due to cancellation, target position not reached 4: Target position is outside of traverse range 5: Positioning not possible (e.g. due to “free rotation”) Interrogation of all axes: Status of PLC positioning movement bit-encoded in word format
Error recognition:
6 – 34
Marker
Value
Meaning
M4203
0
Status was transferred
1
Axis does not exist or status interrogation faulty
W1022
1
Invalid status information was requested
2
This status of an open-loop axis, auxiliary axis or slave axis is being interrogated
HEIDENHAIN Technical Manual iTNC 530
Module 9224 Stop PLC positioning movements Individual PLC positioning movements can be stopped with Module 9224. If M4120 to M4128 are already set, they are reset. It is still possible to stop PLC positioning movements by resetting markers M4120 to M4128. Positioning movements of axes 10 to 14 can be stopped only with this module. Call: PS PS CM PL
B/W/D/K B/W/D/K Reserved: 0 transferred 9224 B/W/D 0: Positioning is canceled 1: Invalid axis was programmed 2: This axis is not positioned by the PLC
Error recognition: Marker
Value
Meaning
M4203
0
PLC positioning was stopped
1
Error code in W1022
2
Invalid axis (invalid axis number, slave axis, auxiliary axis, or uncontrolled axis)
9
Axis is not positioned by the PLC
W1022
September 2006
PLC Positioning
6 – 35
PLC positioning through markers and words
To ensure compatibility, a PLC positioning command is permissible for axes 1 to 9 with M4120 to M4128, D528 to D544 and W560 to W568.
Warning Software limit switches are ignored! Programming: 8
Enter the target position in the double words D528 to D544 in the unit [0.0001 mm].
8
Enter the feed rate in words W560 to W568 [mm/min].
8
To start the PLC positioning movement: Set markers M4120 to M4124 for the desired axis.
D528-544 W560-568 M4120 M4121 M4122 M4123 M4124 M4125 M4126 M4127 M4128
6 – 36
Target position for PLC positioning Feed rate for PLC positioning PLC positioning axis 1 active PLC positioning axis 2 active PLC positioning axis 3 active PLC positioning axis 4 active PLC positioning axis 5 active PLC positioning axis 6 active PLC positioning axis 7 active PLC positioning axis 8 active PLC positioning axis 9 active
Set
Reset
PLC PLC NC/PLC NC/PLC NC/PLC NC/PLC NC/PLC NC/PLC NC/PLC NC/PLC NC/PLC
PLC PLC NC/PLC NC/PLC NC/PLC NC/PLC NC/PLC NC/PLC NC/PLC NC/PLC NC/PLC
HEIDENHAIN Technical Manual iTNC 530
6.4 Axis Error Compensation The iTNC can compensate the following mechanical axis errors: Backlash Linear axis errors Nonlinear axis errors Thermal expansion Reversal spikes during circular movements Stiction Per axis you can activate either the linear or the nonlinear axis error compensation. All other types of compensation are nonexclusive. 6.4.1 Backlash Compensation Cause outside of the control loop
During a reversal in axis direction, there is often a little play between the rotary encoder and table. This play is referred to as backlash. Positive backlash: The rotary encoder reading is ahead of the table. The table traverse is too short. Negative backlash: The rotary encoder reading is behind the table. The table traverse is too long.
Compensation: 8
Enter the backlash in MP710.x.
8
In MP709.x, enter the time in which the distance to be compensated should be traversed.
The value of the backlash is added to the position value at every reversal of direction (even if it results from a nonlinear axis-error compensation, for example) and corrected by the position controller. The value of the kV factor therefore influences the settling time for backlash compensation.
September 2006
Axis Error Compensation
6 – 37
In special cases, such as long ball screws with narrow diameters, additional tension in the system can lead to undesirable dynamic side effects. In order to compensate for this tension at the reversal point, enter in MP709.x the time in which the distance to be compensated (from MP710.x) should be traversed.
MP710.x
Nominal value Reversal point
Nominal value MP709.x: Small input value MP709.x: Large input value MP709.x = 0
6 – 38
MP710.x Input:
Backlash compensation –1.0000 to +1.0000 [mm] or [°]
MP709.x Input:
Time constant for backlash compensation 0: Previous behavior of MP710.x 1 to 1000 [ms]
HEIDENHAIN Technical Manual iTNC 530
Cause within the control loop
If axis movement is measured with a linear encoder, the iTNC can compensate the play between the motor and the table. At the same time, the reversal spikes during circular movements are compensated: machine parameters MP711 to MP716 for “Compensation of reversal spikes” are not necessary.
Compensation: 8
In MP750.x, enter the reversal error in mm.
8
In MP752.x, enter the time in which the distance to be compensated should be traversed.
MP750.x Input:
Backlash in axes 1 to 9 –1.0000 to +1.0000 [mm] or [°]
MP752.x Input:
Compensation time for reversal error 0 to 1000 [ms]
Example: MP750.x: 0.03 mm MP752.x: 15 ms For every change in direction, a nominal speed command signal is output for 15 ms, which corresponds to a feed rate of 120 mm/min: 0.03 mm = 120 mm/min 15 ms
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Axis Error Compensation
6 – 39
6.4.2 Linear Axis Error Compensation Note Linear axis error compensation is not available for rotary axes! For every linear axis you can compensate a linear axis error. Positive linear axis error: The table moves too far. Negative linear axis error: The table moves short.
Error [mm]
0.02 0.01 0 Ref. mark
-0.01
500
1000
-0.02
Encoder [mm]
Compensation:
6 – 40
8
In MP720, enter the axis error in [mm/m].
8
With MP730, activate the linear axis error compensation.
MP720.x Input:
Linear axis error compensation –1.000 to +1.000 [mm/m]
MP730 Format: Input:
Selection of linear/nonlinear axis error compensation %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Linear axis error compensation 1: Nonlinear axis error compensation
HEIDENHAIN Technical Manual iTNC 530
6.4.3 Nonlinear axis error compensation Errors in machine geometry (e.g. an error in one axis caused by the sagging of another axis) or external influences (e.g. temperature) can cause nonlinear axis errors. These graphics show typical nonlinear axis errors:
The best way to measure nonlinear axis error is with a comparator measuring system such as the HEIDENHAIN VM 101. Note The iTNC can compensate screw-pitch error and axis sag simultaneously. Nonlinear axis error compensation is also effective for an open loop. In this case the compensation value is corrected when the control loop is closed.
September 2006
Axis Error Compensation
6 – 41
The following graphic shows the trace of an axis sag error as a function of Y (Z = f(Y)):
0.05
Error in Z [mm]
0.04 0.03 0.02
Machine datum 0
Datum
0.01
Y [mm] –90
–76.8928 –63.7856 –50.6784 –37.5712
–24.464
–11.3568
1.7504
–0.01 –0.02 –0.03 –0.04 –0.05
Inputting the error trace
To enter the error trace in the iTNC: 8
Ascertain the error trace with a comparator measuring system.
8
To create a compensation-value table: Press the MOD key and enter the code number 807667; for each axis that is to be compensated for, use the program manager to create a compensation-value table with the name *.COM.
8
Using soft keys (e.g. 1 OFF/ON), activate columns in the compensation value table only for the axes whose positions affect the error of the compensated axis.
8
Begin your entry with the soft key HEAD LINE: Enter the datum for the compensation values as a distance from the machine datum (MP960.x).
8
Enter a value for the spacing of the compensation points as a power to the base of 2. The input value is ±999.9999.
8
Exit the header by pressing END.
8
With the soft key APPEND N LINES, enter the number of compensation points: • Up to 360 lines • Maximum of 24 columns in all active compensation value tables • Total maximum of 24 ⋅ 360 = 8640 compensation points
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HEIDENHAIN Technical Manual iTNC 530
8
To enter compensation values: Enter only the break points of the error trace. The iTNC interpolates linearly between the break points.
If another *.COM file is to be used for the negative direction of traverse, the file name must end with a minus sign (–). The difference between two direction-sensitive compensation-value tables is corrected immediately at a reversal of direction. Example: Entry in the *.CMA file: Axis_X. The compensation value table Axis_X.COM is used. If the compensation value table Axis_X–.COM exists, it will be used for the negative traverse direction.
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Axis Error Compensation
6 – 43
Example
The following dependencies apply for axes 2 = Y and 3 = Z: Ballscrew pitch error in Z and Y: Z = F(Z) and Y = F(Y) Axis sag in Z depending on Y Traverse range: Z = 800 mm, Y = 500 mm Datum point of compensation values: Z = –200 mm, Y = –90 mm Desired interval of compensation points: 7 mm Number of compensation points: 500 mm 7 mm
= 71 Compensation points in Y
800 mm 7 mm
= 114 Compensation points in Z
Y axis: Ballscrew-pitch error in column 2 = F() Sag error in column 3 = F()
Z axis: Ballscrew-pitch error in column 3= F()
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HEIDENHAIN Technical Manual iTNC 530
Activate error compensation
Example
The appropriate machine parameter must be set for nonlinear axis error compensation, and the compensation value table must be registered in a configuration file: 8
With MP730, activate for each axis the nonlinear axis error compensation.
8
To create a configuration file: Press the MOD key and enter the code number 807667; with the program manager, create a configuration file with the extension CMA .
8
Use soft keys (e.g. 1 OFF/ON) to activate columns for the axes for which you have created compensation value tables.
8
Enter the compensation value table: You can assign more than one compensation value table to each axis; however, only one table at a time can be active. Enter the file names of the compensation value tables in the respective lines. You can select the active line either with the soft key ACTIVATE LINE or with Module 9095. With Module 9035 you can interrogate the active line.
8
Enter the complete name of the configuration file of the *.CMA type in the system file OEM.SYS with the TABCMA = command.
Entry in the configuration file for axes 2 = Y and 3 = Z: Compensation value tables valid for 20 °C = Y.COM and Z.COM Compensation value tables valid for 35 °C = YT.COM and ZT.COM
September 2006
Axis Error Compensation
6 – 45
MP730 Format: Input:
Selection of linear/nonlinear axis error compensation %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Linear axis error compensation 1: Nonlinear axis error compensation
Module 9095 Select active line in configuration file Call: PS B/W/D/K CM 9095 PL B/W/D 0: No error 1: Entered line does not exist 2: Compensation value table does not exist 3: Compensation value table > 256 entries 4: Maximum total number of compensation points exceeded 5: Too many compensation value tables 6: CMA file does not exist 7: Call was not from a submit job 8: Call during running program without strobe 10: CMA file is protected Module 9035 Reading status information Call: PS B/W/D/K CM 9035 PL B/W/D 0: Line number –1: No CMA file active Error recognition:
A rotary axis is a special case
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
1
Status information invalid
20
Call was not in a submit or spawn job
For a rotary axis, only the compensation values for the entries of 0° to +60° are effective, relative to the machine datum. Therefore, the datum for the nonlinear compensation must lie within the 0° to +360° range. To compensate a full circle, set the compensation value datum to the machine datum. Example: Rotary axis from –180° to +180°
6 – 46
Rotary axis:
0
...
+180 ...
–179 ...
–1
...
0
Corresponding angle for compensation values:
0
...
+180 ...
+181 ...
+359 ...
0
HEIDENHAIN Technical Manual iTNC 530
6.4.4 Compensation of Thermal Expansion To compensate thermal expansion, exact measurements of machine thermal behavior as a function of temperature (e.g., the center of axis expansion, the amount of the expansion) are necessary. The temperatures measured by the Pt 100 thermistors are saved in the PLC words W486 to W490. Since the thermal expansion of the axes is largely proportional to the temperature, you can directly determine the amount of expansion by multiplying the temperature value by a certain factor. Compensation: 8
Transfer the distance to be compensated to module 9231. At the same time, “lag tracking” becomes active. This means that the actual position is offset by a certain value per PLC cycle until the complete value is compensated.
8
In MP4070, enter the value for the offset per PLC cycle.
For gantry axes, the compensation value must be transferred separately for each axis. Heat compensation when using tilting axes is defined through machine parameters or the kinematics table. See “Temperature Compensation with Tilting Axes” on page 116. The actual value display does not change during compensation. As an alternative, for axes 1 to 5 you can enter the value to be corrected in W576 to W584. MP4070 Input:
Compensation amount per PLC cycle for lagged-tracking axis error compensation 0.0001 to 0.5000 [mm] Set
W486 - 490 W576 - 584
Temperature input at X48 [0.5 °C] NC Inputs 1 to 3 Lag-tracking axis-error compensation PLC For axes 1 to 5
Reset NC PLC
Input: –32 768 to +32 767 [1/10 µm]
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Axis Error Compensation
6 – 47
Module 9231 Compensation of thermal expansion With Module 9231, thermal expansion can be compensated by transferring the axis number and a compensation value. Call: PS PS CM
B/W/D/K Axes 0 to 8 B/W/D/K Range: –30000 to +30000 [1/10 µm] 9231
Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
1
Invalid axis number
2
Invalid compensation value
24
The module was called in a spawn job or submit job
W1022
6 – 48
HEIDENHAIN Technical Manual iTNC 530
6.4.5 Compensation of Reversal Spikes during Circular Traverse The static friction in the axis bearings during circular movement can lead to reversal spikes at the quadrant transitions. With the HEIDENHAIN KGM grid encoder and the ACCOM evaluation software you can measure the size and duration of the spikes.
Calculation
Duration of the reversal spike: tSpD[s] =
Peak width [°] · 2(π · radius [mm] · 60) 360 [°] · Feed rate [mm/min]
The spike width is [°] displayed in the diagram. The feed rate [mm/min] is the programmed tool path feed rate. Compensation per control loop cycle time: Comp. [mm =]
Reversal peaks [µm] · control loop cycle time · [s] · 10-3 0.5 · tSpD[s]
The compensation value is entered in MP712.x.
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Axis Error Compensation
6 – 49
Compensation
Digital axes: You must compensate friction in the range of the speed controller (MP2610.x to MP2620.x). Do not compensate with MP711.x to MP716.x. See “Compensation of Sliding Friction (Only for Digital Axes)” on page 6 – 53. Analog axes: If you have compensated the backlash with MP750.x, there should be no more reversal spikes. If there are, compensate them with MP711.x to MP716.x. Compensation: 8
In MP711.x, enter the height of the spike.
8
In MP712.x, enter the amount of the reversal spike that is to be compensated per control loop cycle (see “Calculation” above).
MP711.x Input:
Height of peaks during circular movement (only analog) –1.0000 to +1.0000 [mm] (digital: 0)
MP712.x Input:
Compensation value per control loop cycle time 0.000 000 to 99.999 999 [mm] (digital: 0)
If the compensation has no effect, it may be because the machine’s dynamic performance is too weak. You can selectively increase the contour accuracy with a higher kv factor. With the M function M105 you can switch to a second set of kv factors: In this way a second set of machine parameters becomes active for reversal spike compensation (MP715.x and MP716.x). M106 resets M105.
6 – 50
8
Enable the M functions M105/M106 with MP7440, bit 3.
8
In MP715.x, enter the height of the spike.
8
In MP716.x, enter the amount of the reversal spike that is to be compensated per control loop cycle (see “Calculation” above)
MP7440 Format: Input:
Output of M functions %xxxxx Bit 3 – switching the kv factors with M105/M106 0: Function is not in effect 1: Function is effective
MP715.x Input:
Height of peaks during circular movement (only analog) with M105 –1.0000 to +1.0000 [mm] (digital: 0)
MP716.x Input:
Compensation value per control loop cycle time with M105 0.000 000 to 99.999 999 [mm] (digital: 0)
HEIDENHAIN Technical Manual iTNC 530
6.4.6 Compensation of Static Friction On guideways with high static friction (stick-slip friction), a following error can occur at low feed rates during operation with velocity feedforward control. This error can be compensated by the iTNC. You can measure following error by using, for example, the integrated oscilloscope of the iTNC. Compensation of static friction works only under velocity feedforward control. If it is also to work in manual operating modes, you must activate velocity feedforward control in each axis with MP1391.x for manual operation. Calculations
For compensation of static friction, an additive nominal velocity is output whose value Fzus is calculated from the factor for static friction compensation:
F zus =
Δ sa -------- ⋅ k v ⋅ MP1511 tR
Fzus = additional feed rate [m/min] Δsa = following error difference after one control loop cycle [mm] tR = control loop cycle time [µs] kv = control loop gain [(m/min)/mm] MP1511.x = factor for static friction compensation [µs] This additive nominal value is limited with MP1512.x. If this limit is too high, the machine vibrates while at standstill: s agrenz ⋅ 256 MP1512.x = ------------------------------TP
MP1512.x = limitation of the amount of the static friction compensation [counting steps] sagrenz = limit value for Δsa [µm] TP = grating period of the encoder [µm]
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Axis Error Compensation
6 – 51
Compensation
The compensation must be effective only at low feed rates, otherwise the nominal value increase will cause vibration at high velocity: 8
In MP1511.x, enter a factor for static friction compensation (approximate value: 5000 to 10 000).
8
In MP1512.x, enter a limit for the amount of the static friction compensation (approx. value: < 50).
8
In MP1513.x, limit the maximum feed rate up to which the static friction compensation remains in effect.
MP1511.x Input:
Factor for static friction compensation 0 to 16 777 215 [µs]
MP1512.x Input:
Limitation of the amount of the static friction compensation 0 to 16 777 215 [counting steps]
MP1513.x Input:
Feed-rate limitation for static friction compensation 0 to 300 000 [mm/min]
MP1391.0
Velocity feedforward control in the MANUAL and HANDWHEEL operating modes %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Inactive 1: Active
Format: Input:
MP1391.1 Format: Input:
Digital axes: Limitation of the integral factor
Acceleration feedforward control in the MANUAL and HANDWHEEL operating modes %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Inactive 1: Active
In machines with very high static friction, a position deviation at standstill can lead to the accumulation of a very high integral factor. This can lead to a jump in the position value when the axis “tears loose.” In such cases you can limit the integral-action component of the speed controller with MP2512.x. The limitation is effective as soon as the axis is in position (W1026). If high utilization occurs when an axis is at standstill (e.g. due to static friction), the current is also limited. MP2512.x Input:
6 – 52
Limiting the integral-action component of the speed controller 0.000 to 30.000 [s] (realistically: 0.1 to 2.0)
HEIDENHAIN Technical Manual iTNC 530
6.4.7 Compensation of Sliding Friction (Only for Digital Axes) Sliding friction is compensated within the range of the speed controller: 8
With the integrated oscilloscope of the iTNC, define the nominal current value (I NOMINAL) at a very low speed of approx. 10 rpm.
8
Enter the value for current in MP2610.x. At every change in direction, this amount is fed forward to the speed controller to compensate the sliding friction at low speeds.
8
Measure the nominal value for current (I NOMINAL) at rated speed and enter it in MP2620.x. Depending on the nominal speed value, a certain current is fed forward to the speed controller and causes a sliding friction that depends on the speed.
When the traverse direction is reversed at high feed rates, the sliding friction might be overcompensated. In a circular interpolation test, such overcompensation appears in the form of reversal spikes that jut inward. With MP2612.x you can prevent overcompensation by delaying the compensation. MP2610.x Input: MP2612.x Input: MP2620.x Input:
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Friction compensation at low speeds (effective only with velocity feedforward control) 0 to 30.0000 [A] 0: No friction compensation (or axis is analog) Delay of the friction compensation (effective only with velocity feedforward control) 0.0000 to 1.0000 [s] (typically: 0.015 s) 0: No friction compensation (or axis is analog) Friction compensation at rated speed 0 to 100.000 [A] 0: No friction compensation (or axis is analog)
Axis Error Compensation
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✎
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HEIDENHAIN Technical Manual iTNC 530
6.5 Tilting Axes Swivel heads and tilting tables are often used on milling machines for 5-axis machining and to machine workpieces from several sides. The NC programs are written with a CAD system or directly at the iTNC using the Tilt working plane (Plane, TCPM) function. The user programs the part program in the X/Y plane and the iTNC interpolates the proper axes. All path functions, cycles, “datum setting” and “probing” can be applied in the transformed working plane. 6.5.1 Determining the Mechanical Offset As an example, we will show how to determine the mechanical offset of a 45° double swivel head and of a forked swivel head. Note The 3-D ROT function must be inactive during the entire measuring process. Double swivel head 45°
In this example, the mechanical offset of a double swivel head is determined by using a 3-D touch probe. Input values for mechanical offset up to software 340 422-xx (via machine parameters): MP7500 = %xxxx101 MP7510.0 = %000100 MP7510.1 = %000001 MP7510.2 = %001000 MP7510.3 = %000100 MP7510.4 = %100000 MP7510.5 = %001000 MP7510.6 = %000001 MP7510.7 = %010000 MP7510.8 = %000000
; Shift in Z axis ; Shift in X axis ; Rotate about A axis ; Shift in Z axis ; Free tilting axis C ; Rotate about A axis ; Shift in X axis ; Free tilting axis B ; End transformation
Input values for mechanical offset as of software 340 490-xx (via description table in the kinematics, ## are the values to be determined): NR
KEY
AXIS
COORD
ON/OFF FILE
DOC
0
Trans
Z
##
Shift in Z axis
1
Trans
X
##
Shift in X axis
2
Trans
A
##
Rotate around A axis
3
Trans
Z
##
Shift in Z axis
4
MachAxis
C
5
Trans
A
##
Rotate around A axis
6
Trans
X
##
Shift in X axis
7
MachAxis
B
Free tilting axis C
Free tilting axis B
: [END]
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Step 1a Move tilting axes B and C to 0° position Probe surface X1 Set X = 0
Step 1b Probe surface Z Set Z = 0
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Step 2 Position C = 180 Probe surface Z Entry for the kinematics • Via MP: MP7530.0 = –determined value – probe length + ball radius • Via table: = –determined value – probe length + ball radius
Step 3 Probe surface X1 Entry for the kinematics • Via MP: MP7530.1 = –0.5 * determined value • Via table: = –0.5 * determined value
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Step 4a Position C = 0 Probe surface X2 L = determined value
Step 4b Position B = –90 Probe surface X1 ΔX1 = determined value Position B = +90 Probe surface X2 ΔX2 = determined value Entry for the kinematics • Via MP: MP7530.3 = {[0.5 * (ΔX2 – ΔX1 – L – 2*(probe length) + 2*(ball radius))] – MP7530.0} / cos 45° • Via table: = {[0.5 * (ΔX2 – ΔX1 – L – 2*(probe length) + 2*(ball radius))] – MP7530.0} / cos 45°
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Step 4c Position B = –90 Probe surface Z Set Z = 0 Position B = +90 Probe surface Z Entry for the kinematics • Via MP: MP7530.6 = (–0.5 * determined value) – MP7530.1 • Via table: = (–0.5 * determined value) –
Step 5 Probe surfaces X1, X2, Y2 and Z in a tilted working plane with the tilting angles B = –90, B = +90 and C = 180 (with MP7500 = %xxxxx0x) If there are differences between the individual tilting angles, the offsets from MP7530.0 and MP7530.3 or line numbers [0] and [3] in the kinematics table should be determined with a different process (steps 6 to 8), and the averages from both processes should be entered in MP7530.0 and MP7530.3 or line numbers [0] and [3] in the kinematics table.
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Step 6 Probe surface Y2 Set Y = 0
Step 7 Position C = 180 Probe surface Y2 ΔY2 = determined value Z1 = ΔY2 – probe length + ball radius If there is a difference between MP7530.0 and Z1, then MP7530.0 = 0.5 * (MP7530.0 + Z) Entry for the kinematics if the results differ for • MP7530.0 and Z1, then MP7530.0 = 0.5 * (MP7530.0 + Z) • and Z1, then COORD = 0.5 * ( + Z)
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Step 8 Position C = 0 Position B = –90 Probe surface Z ΔZ = determined value Position B = +90 Probe surface Z Z = {[–0.5 * (ΔZ + determined value) – probe length + ball radius] – Z1} / cos 45° (Z1 see step 7) If there is a difference between MP7530.3 and Z, then MP7530.3 = 0.5 * (MP7530.3 + Z) Entry for the kinematics if the results differ for • MP7530.3 and Z, then MP7530.3 = 0.5 * (MP7530.3 + Z) • and Z, then COORD = 0.5 * ( + Z)
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Forked swivel head
In this example, the mechanical offset of a forked swivel head is determined with a dial gauge and a cylinder with a known diameter.
Z
Z
Y
X
Input values for mechanical offset up to software 340 422-xx (via machine parameters): MP7500 = %xxxx101 MP7510.0 = %000100 MP7510.1 = %000010 MP7510.2 = %001000 MP7510.3 = %000001 MP7510.4 = %000010 MP7510.5 = %100000 MP7510.6 = %000000
; Shift in Z axis ; Shift in Y axis (Y1: Offset of spindle to A axis) ; Free tilting axis A ; Shift in X axis ; Shift in Y axis (Y2: Offset of fork to C axis) ; Free tilting axis C ; End transformation
Input values for mechanical offset as of software 340 490-xx (via description table in the kinematics, ## are the values to be determined): NR
KEY
AXIS COORD
DOC
0
Trans
Z
##
Shift in Z axis
1
Trans
Y
##
Shift in Y axis (Y1: Offset of spindle to A axis)
2
Trans
A
##
Free tilting axis A
3
Trans
X
##
Shift in X axis
4
Trans
Y
5
MachAxis C
Shift in Y axis (Y2: Offset of fork to C axis) ##
Free tilting axis C
: [END]
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HEIDENHAIN Technical Manual iTNC 530
Step 1a Determining the Y1 offset: Position A = –90 Set the dial gauge to 0
0
Step 1b Determining the Y1 offset: Position A = +90 Offset = 0.5 * determined value If the determined value > 0, then MP7530.1 = – offset or = – offset If the determined value < 0, then MP7530.1 = + offset or = + offset 0
Step 1c Checking the settings for the Y1 offset: Position A = +90 Activate 3-D ROT Set the dial gauge to 0 Set reference point to Y = 0 Position A = –90 Probe same position again Display and dial gauge must read 0
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Step 2a Determining the Z offset: Deactivate 3-D ROT Position A = –90 Set the dial gauge to 0 Set the Z display = 0
0
Step 2b Determining the Z offset: Position A = 0 Move the Z axis until the dial gauge reads 0 at the spindle tip MP7530.0 = Value for Z axis – cylinder radius or = Value for Z axis – cylinder radius
0
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Step 3 Determining the Y2 offset: 180°
0
Position A = 0 Position C = 0 (basic setting) Set the dial gauge to 0 Position C = 180 Read Y offset from the dial gauge MP7530.4 = (0.5 * determined value) – MP7530.1; (MP7530.1 = offset Y1) or = (0.5 * determined value) – ; ( = Y1 offset) Step 4 Determining the X offset: Position C = –90 Set the dial gauge to 0 Position C = 270 Read X offset from the dial gauge MP7530.3 = 0.5 * determined value or = 0.5 * determined value
180°
0
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Tilting/rotary table
In this example, the mechanical offset of a tilting or rotary table is determined by using a 3-D touch probe. In the A axis, the table can only be tilted by –90°. C
C
A A
Input values for mechanical offset up to software 340 422-xx (via machine parameters): MP7500 = %xxxx101 MP7510.0 = %000001 MP7510.1 = %000010 MP7510.2 = %000100 MP7510.3 = %100000 MP7510.4 = %000010 MP7510.5 = %000100 MP7510.6 = %001000 MP7510.7 = %000000
; X coordinate of the center of rotation of C axis ; Y coordinate of the center of rotation of C axis ; Z coordinate of the center of rotation of C axis ; Free tilting axis C ; Shift in Y axis ; Shift in Z axis ; Free tilting axis A ; End transformation
Input values for mechanical offset as of software 340 490-xx (via description table in the kinematics): NR
KEY
AXIS
COORD
DOC
MachAxis
X
X axis
MachAxis
Y
Y axis
MachAxis
Z
Trans
X
[X1]
Trans
Y
[Y1]+0.5 * (ΔZ – ΔY) Shift in Y axis to the A axis
Trans
Z
[Z1]+0.5 * (ΔZ + ΔY) Shift in Z axis to the A axis
MachAxis
A
Trans
Y
0.5 * (ΔZ – ΔY)
Shift in Y axis
Trans
Z
0.5 * (ΔZ + ΔY)
Shift in Z axis
MachAxis
C
##
Free rotary axis C
Z axis Shift in X axis to the center of rotation of the C axis
Free tilting axis A
[END]
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HEIDENHAIN Technical Manual iTNC 530
Step 1 Ascertain the center point of the center of rotation of the C axis using the 3-D touch probe (= X1 and Y1); set X = 0 and Y = 0. Step 2 Probe surface Z (= Z1) Set Z = 0
Step 3 Determining the Z offset: Position A = –90 Probe at test mandrel ΔZ = radius of test mandrel + Z display
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Step 4 Determining the Y offset: Probe surface Z ΔY = Display Y
Step 5 MP7530.4 = 0.5 * (ΔZ – ΔY) MP7530.5 = 0.5 * (ΔZ + ΔY) or entry of the values in the description table as indicated above
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6.5.2 Calculating the Mechanical Offset up to Software 340 422-xx
Note The description of the mechanical offset is only taken into account for tilting functions, such as TCPM or the Tilt Working Plane function. Describing the mechanical offset
Determine the mechanical offset of the axes in the home position. For swivel heads, the starting point is the tool datum; for tilting tables, the starting point is the center of rotation of the first axis (as seen from the workpiece): 8
Only for tilting tables: Define the center of rotation of the first tilting axis with respect to the machine datum.
8
Determine in sequence the linear or rotary offset to the next tilting axis until you reach a point that is not separated from the machine frame by any free tilting axis.
8
In MP7510.x, enter the sequence of the transformed axes, in MP7520.x the type of axis and dimensional data, and in MP7530.x enter the value of the offset. See the examples on the following pages. The sequence of the axes in MP7510.x is fixed (%CBAZYX), regardless of MP100.x.
8
Normally the home position of the tilting element is the 0° setting. If this is not possible, enter in MP7550.x the home position in the machine coordinate system.
If a rotation has been entered, it must be canceled again in an additional transformation. As a rule, the control takes changes in the mechanical offset into account, meaning that these changes do not have to be compensated with a PLC datum shift.
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Describing the mechanical offset with tables
In order to manage several descriptions of the mechanical offset, e.g. when swivel heads are changed, the descriptions can be saved in tables. A description is activated either by the PLC or the NC. Two types of tables are required: Assignment table Each row corresponds to one description (row 0 = description no. 1, etc.). The first column contains the line number. For each description (= row), the value of MP7500 for the description is entered in column two. Keep in mind that the value must be entered as a decimal number. The file name with its complete path is entered in the third column. Description tables The description table contains the contents of machine parameters MP7510.x, MP7520.x, MP7530.x and MP7550.x. The index x corresponds to the line number. Of course the MP7530 column may also contain formulas, such as temperature compensation with TCPM, etc. (see “Temperature compensation” on page 6 – 117). A formula for a permanently effective temperature compensation may be entered in the TEMPCOMP column (see “Permanent temperature compensation” on page 6 – 118). Working with the description of the mechanical offset in tables:
6 – 70
8
Switch to the Programming and Editing operating mode, press the MOD key and enter the code number 807667.
8
Choose the file PLC:\OEM.SYS from within program management.
8
Enter the code word KINEMATIC=, followed by the file name with its complete path from the assignment table. (e.g., KINEMATIC= PLC:\KINEMAT\KINELIST.TAB)
8
Leave OEM.SYS by pressing the END key.
8
To create an assignment table: In program management, switch to the desired directory and enter the name of the assignment table, including the extension .TAB.
8
Choose the table format with the MP7500, FILE and MPFILE fields.
8
Enter the value from MP7500.x in the table for each description, and the path to the corresponding description table.
8
To create a description table: In program management, switch to the desired directory and enter the name of the description table, including the extension .TAB.
8
Choose the table format with the MP7510, MP7520, MP7530, MP7550 and TEMPCOMP fields.
8
Enter the values of machine parameters MP7510.x, MP7520.x, MP7530.x and MP7550.x in the table.
HEIDENHAIN Technical Manual iTNC 530
8
Activate the description table by transferring the row numbers from the assignment table • from the PLC with Module 9097 • from the NC with FN17: SYSWRITE ID290 NR1
8
You can ascertain the active description table in two ways: • With the PLC you can use Module 9098 to ascertain the name of the description table or the line number in the assignment table. • With the NC you can use FN18: SYSREAD ID290 NR1 to ascertain the line number in the assignment table. Warning Please ensure that the objects and files referenced in the tables are written correctly. Not all possible errors can be reported. Note The active description table is indicated with the status “M” in program management. Time at which changes to the descriptions become effective: Swivel heads: when the corresponding description table is selected again. Tilting tables: when the corresponding description table is selected again and a new datum is set.
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Assignment table
Description tables
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Example: This example shows an assignment table for three description tables. The double swivel head 45° from example 2 was entered in the description table. Assignment table KINEMATIC.TAB NR
MP7500
FILE
0
7
PLC:\KINEMAT1.TAB
1
7
PLC:\KINEMAT2.TAB
2
7
PLC:\KINEMAT3.TAB
MPFILE
DOC
[END] Description table KINEMAT1.TAB NR
MP7510 MP7520 MP7530
0
4
0
TEMPCOMP
MP7550
+150.5
1
8
0
–45
2
4
0
+251.5
3
32
0
0
4
8
0
+45
5
16
0
0
6
0
0
0
[END]
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6.5.3 Description for Configuring the Kinematics as of Software 340 490-xx Note The description of the kinematics is only taken into account for tilting functions, such as TCPM or the Tilt Working Plane function. Differences to the previous kinematics description
The previous kinematics description (NC software 340 422-xx) contains partial transformation chains such as the description of a swivel head (from the tool reference point to the tilting axis) or a tilting table (from the center point of the rotary table to the tilting table). By contrast, the new kinematics description (as of NC software 340 490-01), consists of one transformation chain, going from the tool reference point over the tilting head, linear axes and tilting table to the center of the rotary table. Seen as a whole, the new kinematics description defines one transformation chain, consisting of fixed lengths (machine dimensions) variable lengths (linear axes) fixed rotations (machine conditions) variable rotations (rotary axes) starting from the tool reference point (e.g. spindle housing, swivel head, machine bed, linear axes, machine envelope, tilting table, rotary table). Each translation is described. The difference to the previous kinematics description is that here, no coding is specified for the head or table rotary axes, or for the “ref. coordinates.” This means that the sequence and algebraic signs of the table elements are reversed compared to the old description. The following machine equation results for a closed transformation chain (tool reference point is at the center point of the rotary table): THead + TTable + TNew - TRef = 0 => TNew = TRef - THead - TTable THead: Translation for swivel head TTable: Translation for tilting table (algebraic sign according to the new kinematics description) TNew: New translation (sum of the remaining translations after the tilting head to before the rotary table) TRef: “Ref. coordinates” (previous description of the center point of the rotary table)
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Compatibility
Basically it is possible to keep the previous kinematics descriptions in tabular form, and also for them to be available for selection in the assignment table parallel to the new format. Additional columns (such as SUBFILE1) for the new format are simply left blank in the assignment table, or, if you keep the kinematics descriptions in only the old format, you can delete them from the assignment table (EDIT FORMAT soft key).
Kinematics tables
In order to describe the kinematics of a machine, various tables are necessary depending on the application and the software option (option #40 “DCM – Dynamic Collision Monitoring”). Depending on the type of content, these tables are structured according to the following hierarchy when using the new kinematics description.
Table overview
Brief Description
Assignment table
List of selectable kinematics, is called in OEM.SYS
Description table 1 (FILE) Description table 2 (FILE)
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Contains the transformation chain of the kinematics description, is referenced in the assignment table
Tool-carrier table (TOOLFILE)
Contains the kinematics description of a specific tool carrier, is called in the description table and referenced via the tool table
Partial description table (SUBFILE1, SUBFILE2)
Contains the kinematics description of an exchangeable machine component that is included in the kinematics (e.g. swivel head), is called in the description table and referenced in the assignment table
Definition table for collision-monitored objects (CMO)
Contains descriptions of objects located within the machine work envelope, and for which the possibility of collision with other machine objects cannot be ruled out. CMO (“Collision Monitored Object”)
Tilting Axes
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Assignment table (in the new form editor for tables *.TAB)
Description tables
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Note Definition tables, and therefore collision-monitored objects, are only processed and therefore considered on an MC 422B starting from software 340 49x-02 and with software option #40 “DCM – Dynamic Collision Monitoring” Id. Nr. 526 452-01. Specify the machine kinematics as well as the resulting transformation model, starting from the machine reference point (REF 0, e.g. traverse block with M91). 8
For machines with exchangeable components (e.g. adapter spindles, angle heads), specify partial kinematics as necessary. These can be included separately, in order to additionally increase the flexibility of the machine kinematics. Partial kinematics of this type are connected with the appropriate path in columns SUBFILE1 or SUBFILE2 of the assignment table.
8
For tools with special tool-carrier kinematics, consider the possibility of connecting their additional kinematics descriptions via the tool table. Additional kinematics descriptions for tool carriers are connected in the KEY column of the assignment table via the TOOLFILE entry.
8
Position the axes to the machine datum (transformation model with consideration of MP960).
8
Now, starting from the tool reference point, define in sequence the shifts or rotations via the linear, rotary and tilting axes to a center point of a (rotary) table.
8
Enter the shifts and rotations in the description table.
As a rule, the control takes changes in the mechanical offset into account, meaning that these changes do not have to be compensated with a PLC datum shift. Note File paths should be entered as absolute paths. If only the file name is entered, the kinematics path from OEM.SYS is valid (e.g. KINEMATIC = PLC:\Kinemat\Kinelist.TAB) Another SUBFILE or TOOLFILE cannot be called from a SUBFILE or TOOLFILE, respectively File names can be entered with paths and the extension (.TAB) in the SUBFILE1, SUBFILE2 and FILE columns. If the path is missing, the path of the assignment table is used. If the file name extension is missing, *.TAB is amended (internally).
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Assignment table The assignment table “manages” the kinematics descriptions, and is the foundation for the selection dialog box called via the KINEMATIC keyword. The operator selects the kinematics description necessary for the current machine configuration from this dialog box. Normally only one assignment table is needed on a control. In addition, by connecting partial description tables (SUBFILE1 and SUBFILE2), the assignment table makes it possible to easily manage different machine configurations in just one assignment table. The iTNC ignores the missing entry of a SUBFILE in the assignment table, even if a SUBFILE1 or SUBFILE2 is entered in the description table. By combining the SUBFILE entries in the assignment table, you can cover four configurations with just one description table. This makes the following combinations possible in the assignment table with one description table (here KINEMAT1.TAB): NR
MP7500 FILE
MPFILE
SUBFILE1
0
1
PLC:\KINEMAT1.TAB
1
7
PLC:\KINEMAT1.TAB PLC:\MP\KINE...
PLC:\HeadA
2
3
PLC:\KINEMAT1.TAB PLC:\MP\KINE...
PLC:\HeadA
3
%11
PLC:\KINEMAT1.TAB PLC:\MP\KINE...
SUBFILE2
PLC:\HeadB PLC:\HeadB
[END] Specification of the assignment table: 8
Switch to the Programming and Editing operating mode, press the MOD key and enter the code number 807667.
8
Choose the file PLC:\OEM.SYS from within program management.
8
Enter the code word KINEMATIC=, followed by the file name with its complete path from the assignment table. (e.g., KINEMATIC= PLC:\KINEMAT\KINELIST.TAB)
8
Leave OEM.SYS by pressing the END key.
Creation of the assignment table:
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8
In program management, switch to the directory already selected via OEM.SYS, and enter the name of the assignment table specified in OEM.SYS, followed by the extension .TAB.
8
Choose the table format with the MP7500, FILE, MPFILE, SUBFILE1, SUBFILE2 and DOC fields.
8
In each line, enter the value from MP7500.x (integer or bit-encoded) for the information for tilting the working plane.
8
In the FILE column, enter the absolute path to the description table.
8
If necessary, enter in the MPFILE column an appropriate machine parameter subfile.
8
If necessary, enter in the SUBFILE1 or SUBFILE2 columns a partial description file.
8
Enter a brief descriptive text for the kinematics selection dialog.
HEIDENHAIN Technical Manual iTNC 530
Each line of the assignment table contains information for referencing a specific kinematics description. Format of the assignment table: Column
Input
Description
NR
0, 1, 2 ...
Automatic line numbering
MP7500
Integer (e.g. “3”) Option selection for tilting the working or bit-encoded (e.g. plane (depends on the activation of the %11) preset table). See the description of the “Tilt Working Plane” feature.
FILE
Path and file namea Referencing of a description table for one machine kinematics
MPFILE
Path and file namea Referencing of a machine parameter subfile, which is to be activated when these machine kinematics are selected.
SUBFILE1
Path and file namea Referencing of two possible partial description tables for each (selected) kinematics description. These tables are activated via the KEY column in the description table and the SUBFILE1 or SUBFILE2 keyword.
SUBFILE2
DOC
Text
Brief descriptive text for selection dialog of the kinematics model via code number
a. File paths should be entered as absolute paths. If only the file name is entered, the kinematics path from OEM.SYS is valid (e.g. KINEMATIC = PLC:\Kinemat\Kinelist.TAB). Example of an assignment table: NR
MP7500 FILE
0
1
PLC:\KINEMAT1.TAB
MPFILE
SUBFILE1
DOC
1
7
PLC:\KINEMAT2.TAB
PLC:\MP\KINEMAT2.MP
2
3
PLC:\KINEMAT3.TAB
PLC:\MP\KINEMAT3.MP PLC:\DoubleHeadTyp1 Double Swivel H1
3
%11
PLC:\KINEMAT4.TAB
PLC:\MP\KINEMAT4.MP PLC:\DoubleHeadTyp2 Double Swivel H2
Standard B Head
[END]
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Description tables The description table contains the actual definition of the kinematics. The transformations are described here, subkinematics (SUBFILE1, SUBFILE2, TOOLFILE) are connected if necessary, and if software option #40 (DCM “Dynamic Collision Monitoring”) is available, objects for collision monitoring are included. Any number of description tables can be used. Note The number of kinematics entries in a description table (Trans, MachAxis) is limited to 25. This also includes the entries in TOOLFILE, SUBFILE1 and SUBFILE2. However, references to collision bodies (CMO) do not count as kinematics entries. Creating/activating/changing an assignment table: 8
In program management, switch to the desired directory and enter the name of the description table, including the extension .TAB.
8
Choose the table format with the KEY, AXIS, COORD, ON/OFF, FILE, DONTTEST, TEMPCOMP and DOC fields.
8
With the aid of the table format for a description table shown below, enter the description of the machine kinematics.
8
Activate the description table by transferring the row numbers from the assignment table • from the PLC with Module 9097 • from the NC with FN17: SYSWRITE ID290 NR1 = ... (line number)
8
You can ascertain the active description table in two ways: • With the PLC you can use Module 9098 to ascertain the name of the description table or the line number in the assignment table. • With the NC you can use FN18: SYSREAD Q1 = ID290 NR1 to ascertain the line number in the assignment table. Note The active description table is indicated with the status “M” in program management. Time at which changes to the descriptions become effective: the iTNC is restarted the kinematics are selected via the code number KINEMATIC the kinematics are activated with FN17: SYSWRITE ID290 NR1 = ... the kinematics are selected with PLC Module 9097 the description table is changed with WRITE TO KINEMATIC
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The description table contains the actual kinematics description. Format of the description table: Column
Input
Description
NR
0, 1, 2 ...
Automatic line numbering
KEY
TOOLFILE
The additional kinematics description referenced in the tool table via the entry in the KINEMATIC column, such as a tool carrier, is included in the calculations.
SUBFILE1
The additional description is included in a partial kinematics table, which is referenced via the file in the SUBFILE1 or SUBFILE2 column of the assignment table. Basically, the same content conditions apply for subfiles as for the description tables.
SUBFILE2
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MachAxis
Defines the point at which a machine axis becomes effective in the kinematics sequence. From this entry onward, movements by the indicated axis (AXIS column) change the positions of previously defined axes or objects relative to subsequent axes or objects. The start of the sequence is always the tool reference point.
CMO
Defines a monitorable collision body in the current kinematics sequence. This machine element is described by the file (table) referenced in the FILE column.
Trans
Here a transformation of the indicated axis (AXIS column) in the current kinematics sequence by the value entered in the COORD column is performed. This can be a linear translation as well as a rotation about an axis.
AXIS
X, Y, Z, A, B, C ... Entry of the axis designation for function given in the KEY column (valid for the MachAxis and Trans parameters in the KEY column).
COORD
e.g. 47.092 [mm] or 45.05 [°]
ON/OFF
0 or 1 Activate or deactivate a definition table for (1=CMO inactive) a collision-monitored object (valid for the CMO parameter in the KEY column). This makes it possible, for example, for a toolchange macro to switch off monitoring of the cabinet.
Tilting Axes
Entry of the transformation value for linear axes (X, Y, Z, ...) in mm or for rotary axes (A, B, C) in degrees. The units are not entered. The iTNC infers the units from the axis designation entered (valid for the Trans parameter in the KEY column).
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Column
Input
Description
FILE
Path and file namea
Entry of the path and file name of a definition table for a collision-monitored object (valid for the CMO parameter in the KEY column).
DONTTEST
Path and file namea
Entry of the path and file name of a collision-monitored object (CMO), which is not to be monitored for collision with the CMO referenced in the FILE column (valid for the CMO parameter in the KEY column).
TEMPCOMP Formula, e.g. 3.45e–3 * (W486 – 20)
Entry of a formula for a permanently effective temperature compensation for the translation given in the line.
DOC
Entry of a comment
Comment
a. File paths should be entered as absolute paths. If only the file name is entered, the kinematics path from OEM.SYS is valid (e.g. KINEMATIC = PLC:\Kinemat\Kinelist.TAB).
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The following example of a description table is intended to show the procedure for determining the kinematics of a machine. NR
KEY
0
TOOLFILE
AXIS COORD
ON/OFF FILE
DONTTEST
TEMPCOMP
1
SUBFILE1
2
MachAxis
3
CMO
4
MachAxis
X
5
MachAxis
Y
6
CMO
7
Trans
X
470.092
1.73e–3*(W486-20)
8
Trans
Y
282.405
0.82e–3*(W488-20)
9
Trans
Z
-900
2.3e-3* (W490-20)
10
CMO
11
MachAxis
12
CMO
13
MachAxis
14
CMO
B CMO_Portal
CMO_FloorSection PLC:\Kinemat\...
1
CMO_Cabin
PLC:\Kinemat\...
CMO_LiftTable
CMO_Cabin
CMO_TurnTable
CMO_LiftTable
Z C
[END] Representation of the machine by the description table above
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Tool-carrier kinematics table (TOOLFILE) The TOOLFILE table is used to automatically activate specific tool-carrier kinematics when a tool-change procedure occurs. The inclusion of a TOOLFILE table adds an additional shift of the tool-reference point (reference point for tool dimensions) to the subsequent description of the kinematics. This occurs dynamically with the tool change. For example, if the following TOOLFILE is included for an angular milling head (tool is aligned in the X direction) in the KINEMATIC column of the tool table, then the previous tool-reference point is shifted in the X direction by 96 mm and in the Z direction by –105 mm, and the tool alignment is rotated in the B direction by –90°. This additional kinematics description is added to the existing kinematics. This corresponds to the offset that this tool carrier would cause in the current kinematics representation. NR
KEY
AXIS
COORD
0
Trans
B
90
1
Trans
X
-96
2
Trans
Z
105
3
CMO
ON/OFF
FILE
CMO_Toolcarrier
[END] Example: A = 105 mm, B = 96 mm, tool alignment in X axis
A
B
The tool holder of the tool carrier stated above (tool reference point) is now the initial point for viewing the kinematics with the included TOOLFILE. The subsequent kinematics description is based on this. This means that the algebraic signs of the shift are now determined by the new tool reference point. The tool dimensions (e.g. tool length) in the tool table are automatically included in machining from this point on.
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Transformations can be entered in the TOOLFILE table. If software option #40 has been activated (as in the table above), then collision objects (CMO) can also be entered. The structure of these tables is identical to those of the description tables, but with the restriction that TOOLFILEs and SUBFILEs cannot be included in them. The kinematics description of a TOOLFILE becomes active at the point from which it is included within the description table. Since the tool is at the beginning of the transformation chain, a TOOLFILE is only useful if it is included in the first line of the description table. If no tool-carrier kinematics are referenced in the tool table (no entry in the KINEMATIC column), then the TOOLFILE entry in the description table has no effect. In the following representation, the TOOLFILE referenced via the KINEMATIC column of the tool table is included in the description table.
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Partial description table (SUBFILE) The SUBFILE makes it possible to integrate the kinematics of entire machine components (such as swivel heads and machine tables) from an external description table. The structure of these tables is identical to those of the description tables, but with the restriction that TOOLFILEs and SUBFILEs cannot be included in them. Transformations, machine axes and collision objects (CMO) can be entered in the SUBFILE. The kinematics description of a SUBFILE becomes active at the point from which it is included within the description table. However, please note that the SUBFILE is already referenced in the assignment table via the SUBFILE1 or SUBFILE2 column. If no partial description table is entered in the SUBFILE1 or SUBFILE2 columns of the assignment table, then any SUBFILE1 or SUBFILE2 entry in the description table has no effect. In the following representation, the SUBFILE1 referenced via the assignment table is included in the description table.
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Kinematics tables via PLC
Module 9098 Finding the active geometry description Module 9098 can find the name of the active description table and/or line number in the assignment table. Call: PS
CM PL
B/W/D/K (line number is also determined) –1: Find only line number, no name 9098 B/W/D –1: Line number not found
Error recognition:
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Marker
Value
Meaning
M4203
0
Name and/or line number found
1
Error code in W1022
W1022
2
Incorrect parameter for string number
20
Module was not called in a submit job or spawn job
Tilting Axes
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Module 9097 Selecting the geometry description A geometry description from an assignment table can be chosen with Module 9097. The module can be called in a running NC program only in connection with a strobe. The module must be called in a submit job or spawn job, and cannot be cancelled with the CAN command. Call: PS PS CM PL
B/W/D/K B/W/D/K Transferred value must be 0 9097 B/W/D 0 = Geometry description was selected 1 = Invalid mode 2 = Line was not found in the assignment table 3 = Assignment table is not defined 4 = Description table does not exist 5 = Description table is incomplete 6 = Module was not called in a spawn job or submit job 7 = Call during running NC program without strobe 8 = No KINEMATIC= entry in the OEM.SYS file 9 = Error in the MPFILE column 10 = Error in the MP7500 column 11 = Error in the machine parameter subfile
Error recognition:
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Marker
Value
Meaning
M4203
0
Geometry description was selected
1
Error code in W1022
W1022
2
Invalid mode; or line was not found in the assignment table; or description table was not defined, does not exist or is incomplete; or there is no KINEMATIC= entry in the OEM.SYS file.
9
Error in the MPFILE column
10
Error in the MP7500 column
11
Error in the machine parameter subfile
20
Module was not called in a spawn job or submit job
21
Call was made during a running NC program without a strobe
HEIDENHAIN Technical Manual iTNC 530
Overwriting the geometry description
Individual cells of the description table can be overwritten from within a machining program. 8
Enter the code number 555343.
8
Press the ENTRY IN KINEMATIC TABLE soft key.
8
With the WRITE TO KINEMATIC AT COLUMN CAPTURE KEY = command you can overwrite individual cells in the active kinematics description in the Program Run operating modes. The line is selected by searching the CAPTURE column for the entry KEY. The column COLUMN is overwritten with .
Example 1: Vertical machining center, B-rotary table in the W axis, machine quill in Z
w
z B
The position of the W axis must be considered in the kinematics table in order to use the tilting functions. For example, an NC macro can be programmed before the tilting function. This macro includes the current position of the W axis in the calculations of the kinematics table.
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The following requirements apply to the correct calculation of the W axis: The kinematics table is determined with a defined position of the W axis. The Z position to be corrected is marked in a newly created column, DOC for example.
The kinematics table in the previous format: NR
MP7510
MP7520
MP7530
0
1
3
100
1
4
3
120
2
16
1
0
TEMPCOMP
DOC
ORG_VALUE
Comment: Center point in X
WPOS
Home position
120
[END] The ORG_VALUE column is created in the description table. Here the position of the table center point is entered when the W axis is at position 0 (in the REF system). Before the tilting function, the actual position of the W axis (in the REF system) must have been determined via the PLC, and the corresponding Q parameters (Q100 to Q197) transferred to the NC program. An NC macro that overwrites the corresponding line in the kinematics table is then carried out before the tilting function is performed. Comment: 0 BEGIN PGM M85 MM 1 FN17: SYSWRITE ID290 NR1 = +3
Activate kinematics 3
2 FN26: TABOPEN PLC:\KINEMAT\KINEMAT3.TAB
Open KINEMAT3.TAB
3 FN28: TABREAD Q10 = 1 / “ORG_VALUE”
Read Z coordinate for home position of machine quill
4 FN1: Q2 = +Q10 + +Q100
Calculate new W position. Q100 contains the position of the W axis in the REF system (was set by the PLC)
5 WRITE TO KINEMATIC AT COLUMN “MP7530” CAPTURE “DOKU” KEY “WPOS” = +Q2
Overwrite cell in the kinematics table
6 END PGM M85 MM
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Example 2: Deactivation of an active COM table so that collision monitoring is deactivated for a certain action, such as a tool change. Table in the new kinematics description format before overwriting: NR
KEY
AXIS
COORD
ON/OFF FILE
DONTTEST
TEMPCOMP
: 2
MachAxis B
3
CMO
4
MachAxis X
CMO_Portal
PLC:\Kinemat\...
: [END]
Comment: 0 BEGIN PGM N545TCM MM : 4 WRITE TO KINEMATIC AT COLUMN “ON/OFF” CAPTURE “FILE” KEY “CMO_Portal” = 1
Overwrite cell in the kinematics table
: Table after overwriting with collision monitoring switched off for the CMO_Portal object: NR
KEY
AXIS
COORD
ON/OFF FILE
DONTTEST
1
PLC:\Kinemat\...
TEMPCOMP
: 2
MachAxis B
3
CMO
4
MachAxis X
CMO_Portal
: [END]
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Example 1: Rectangular double swivel head
Z1 = 200.4 mm Z2 = 3.1 mm X1 = 201.5 Y1 = 1.9 mm 1 to 4: Sequence of transformation
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Description of the swivel head in the previous format via machine parameters (up to software 340 422-xx) or in a description table (as of software 340 490-01; MP numbers are column titles in the description table). MP MP MP MP MP MP MP
7510.0 7510.1 7510.2 7510.3 7510.4 7510.5 7510.6
: : : : : : :
%000100 %000010 %001000 %000001 %000100 %010000 %000000
;Shift in Z axis (Z1) ;Shift in Y axis (Y1) ;Free tilting axis A ;Shift in X axis (X1) ;Shift in Z axis (Z2) ;Free tilting axis B ;End of the transformation chain
MP MP MP MP MP MP
7520.0 7520.1 7520.2 7520.3 7520.4 7520.5
: : : : : :
%00 %00 %00 %00 %00 %00
;Incremental ;Incremental ;Incremental ;Incremental ;Incremental ;Incremental
MP MP MP MP MP MP
7530.0 7530.1 7530.2 7530.3 7530.4 7530.5
: : : : : :
+200.4 –1.9 +0 +201.5 +3.1 +0
;Dimension Z1 ;Dimension Y1 ;Variable dimension (free tilting axis A) ;Dimension X1 ;Dimension Z2 ;Variable dimension (free tilting axis B)
dimensions, dimensions, dimensions, dimensions, dimensions, dimensions,
swivel swivel swivel swivel swivel swivel
head head head head head head
Description of the swivel head as of software 340 490-02 (without elements for collision monitoring): NR
KEY
AXIS COORD
ON/OFF FILE
DOC
0
Trans
Z
200.4
(Z1)
1
Trans
Y
-1.9
(Y1)
2
MachAxis A
3
Trans
X
201.5
(X1)
4
Trans
Z
3.1
(Z2)
5
MachAxis B
6
:
:
:
[END]
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Example 2: Double swivel head 45°
Z1 = 150.5 mm Z2 = 251.5 mm A1 = 45° A2 = 45° X1 = 1.2 mm X2 = 0.8 mm 1 to 6: Sequence of transformation
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Description of the swivel head in the previous format via machine parameters (up to software 340 422-xx) or in a description table (as of software 340 490-01; MP numbers are column titles in the description table). MP MP MP MP MP MP MP MP MP
7510.0 7510.1 7510.2 7510.3 7510.4 7510.5 7510.6 7510.7 7510.8
: : : : : : : : :
%000100 %000001 %001000 %000100 %100000 %001000 %000001 %010000 %000000
;Shift in Z axis (Z1) ;Shift in X axis (X1) ;Rotate coordinate system about axis A (A1) ;Shift in Z axis (Z2) ;Free tilting axis C ;Rotate coordinate system about axis A (A2) ;Shift in X axis (X2) ;Free tilting axis B ;End of the transformation chain
MP MP MP MP MP MP MP MP
7520.0 7520.1 7520.2 7520.3 7520.4 7520.5 7520.6 7520.7
: : : : : : : :
%00 %00 %00 %00 %00 %00 %00 %00
;Incremental ;Incremental ;Incremental ;Incremental ;Incremental ;Incremental ;Incremental ;Incremental
MP MP MP MP MP MP MP MP
7530.0 7530.1 7530.2 7530.3 7530.4 7530.5 7530.6 7530.7
: : : : : : : :
+150.5 –1.2 –45 +251.5 +0 +45 +0.8 +0
;Dimension Z1 ;Dimension X1 ;Dimension A1 ;Dimension Z2 ;Variable dimension (free tilting axis C) ;Dimension A1 ;Dimension X2 ;Variable dimension (free tilting axis B)
dimensions, dimensions, dimensions, dimensions, dimensions, dimensions, dimensions, dimensions,
swivel swivel swivel swivel swivel swivel swivel swivel
head head head head head head head head
Description of the swivel head as of software 340 490-01 (without elements for collision monitoring): NR
KEY
AXIS COORD
0
Trans
Z
150.5
ON/OFF FILE
DOC (Z1)
1
Trans
X
-1.2
(X1)
2
Trans
A
-45
(A1)
3
Trans
Z
251.5
(Z2)
4
MachAxis C
5
Trans
A
45
(A2)
6
Trans
X
0.8
(X2)
7
MachAxis B
Free tilting axis C
: [END]
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Example 3: Universal table (pitch, tilt, rotation)
Y1 = 2.7 mm Z1 = 331.3 mm Z2 = 125.9 mm Coordinates (with respect to machine datum) of the center of rotation of table C when all tilting axes are in their home position: XR = 420.0 mm YR = 151.2 mm ZR = –395.4 mm
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Description of the table in the previous format via machine parameters (up to software 340 422-xx) or in a description table (as of software 340 490-01; MP numbers are column titles in the description table). MP MP MP MP MP MP MP MP MP MP
7510.0 7510.1 7510.2 7510.3 7510.4 7510.5 7510.6 7510.7 7510.8 7510.9
: : : : : : : : : :
%000001 %000010 %000100 %100000 %000010 %000100 %001000 %000100 %010000 %000000
;X coordinate of C-axis center of rotation ;Y coordinate of C-axis center of rotation ;Z coordinate of C-axis center of rotation ;Free tilting axis C ;Shift in Y axis (Y1) ;Shift in Z axis (Z1) ;Free tilting axis A ;Shift in Z axis (Z2) ;Free tilting axis B ;End of the transformation chain
MP MP MP MP MP MP MP MP MP
7520.0 7520.1 7520.2 7520.3 7520.4 7520.5 7520.6 7520.7 7520.8
: : : : : : : : :
%11 %11 %11 %01 %01 %01 %01 %01 %01
;Absolute dimension, tilting table ;Absolute dimension, tilting table ;Absolute dimension, tilting table ;Tilting table ;Tilting table ;Tilting table ;Tilting table ;Tilting table ;Tilting table
MP MP MP MP MP MP MP MP MP
7530.0 7530.1 7530.2 7530.3 7530.4 7530.5 7530.6 7530.7 7530.8
: : : : : : : : :
+420 +151.2 -395.4 +0 –2.7 –331.3 +0 +125.9 +0
;Dimension XR ;Dimension YR ;Dimension ZR ;Variable dimension (free tilting axis C) ;Dimension Y1 ;Dimension Z1 ;Variable dimension (free tilting axis A) ;Dimension Z2 ;Variable dimension (free tilting axis B)
Description of the rotary table as of software 340 490-02 (without elements for collision monitoring) with assumed tool reference point: NR
KEY
AXIS COORD
0
Trans
X
420
Translation in X direction
1
Trans
Y
148.5
Translation in Y direction
2
Trans
Z
-190
Translation in Z direction
3
MachAxis Z
4
MachAxis Y
5
MachAxis X
6
MachAxis B
7
Trans
-125.9
Translation in Z direction
8
MachAxis A
9
Trans
Y
2.7
Translation in Y direction
10
Trans
Z
331.3
Translation in Z direction
11
MachAxis C
Z
DOC
End of translation
[END]
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Compensation of offset of adapter spindle
It may happen that the current adapter spindle in the swivel head has a phaseangle error. This can be compensated as follows: 8
Open the corresponding description table.
8
Press the EDIT FORMAT soft key.
8
Move the cursor to the END line and insert a new line by pressing the INSERT LINE soft key.
8
Enter RAX_OFFS as Field name, C for Field type, 31 for Field width, 4 for the number of decimal places and a dialog text for the desired dialog languages, e.g. OFFSET of angular axes?
8
Press the END key.
The new column RAX-OFFS has been added to the description table. In the first three lines of these columns, you can enter the phase-angle error of the adapter spindle. Line 0 corresponds to axis A Line 1 corresponds to axis B Line 2 corresponds to axis C As soon as the description table has been activated, the phase-angle error is compensated. Note This function is limited to tables with the previous kinematics description. Selecting a geometry description in case of an error
In order for the machine operator to be able to select another geometry description in case of an error, abbreviations for the geometry descriptions can be entered in the DOC column of the assignment table. To select another geometry description in case of an error: 8
While in the Programming and Editing operating mode, press the MOD key.
8
Enter the code number KINEMATIC.
A pop-up window appears with the abbreviation from the DOC column in the assignment table: 8
Use the arrow keys to select the appropriate geometry description.
8
Press the ENT key.
The control resets and activates the selected geometry description. Note As of NC software 340 422-03 and 340 480-03, more than 15 entries can be shown in the pop-up window.
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6.5.4 DCM – Dynamic Collision Monitoring General Information
As of software version 340 490-02, the “DCM – Dynamic Collision Monitoring” function (option #40, Id. Nr. 526 452-01) can be used together with an MC 422B unit (or higher) to integrate collision monitoring for various machine elements via the kinematics tables. You use DCM to define objects (CMOs – “Collision Monitored Objects”) within the kinematics description in relation to movable machine axes (X, Y, Z, A, B, C), as they appear on the machine as spatial objects or machine elements. These objects give a three-dimensional image of the machine. These CMOs, including the current tool as well as assigned, optional toolcarrier kinematics, are then taken into account along with the motions of the machine. The active tool is automatically integrated at the tool reference point as a cylindrical object with the dimensions from the tool table. If there is a danger of collision between defined objects, or between the tool and defined objects, then the motions of the machine are stopped, the collision is avoided, and a collision warning or error message is output in the header of the iTNC530 screen. The machine’s axes can then only be moved out of the danger zone by acknowledging the collision monitoring or by switching it off.
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The following figures illustrate the message about a possible collision:
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Function and operation
After the software option has been enabled, collision monitoring is permanently active in the Manual, Positioning with Manual Input, Program Run Single Block, Program Run Full Sequence, smarT.NC and El. Handwheel operating modes. You can switch collision monitoring off in the Manual operating mode in the “Collision Monitoring (DCM)” menu that appears when the Collision soft key is pressed. It is possible to activate/deactivate DCM separately here for the manual and the program-run modes of operation. At the same time, individual objects can be deactivated at run-time (see “Activating and deactivating monitoring” on page 6 – 111), or generally be excluded relative to other objects via the description table (see “Collision exclusions” on page 109). In the Manual and El. Handwheel operating modes, the iTNC reduces the speed of the traverse motions when objects monitored for collision come into proximity, in order to avoid a collision. This can result in sudden reductions or increases of the feed rate to the maximum permitted speed in the respective manual operating modes. If the objects come within a specified distance of each other, the control stops the machine’s motions and outputs an error message. The control makes a distinction between three different zones, which can be seen in the respective error messages. Early warning • Message example: || Tool – Tilting table • Meaning: Two objects monitored for collision are within 14 mm of each other. You can move the axes again normally after acknowledging the message. • Cause: Distance is less than 14 mm [between 12 and 14 mm] • Solution: Acknowledge the message with the CE key. Remove the cause of the danger, or retract the axes from the danger zone. Warning • Message example: || Tool – Tilting table • Meaning: Two objects monitored for collision are within 8 mm of each other. You can move the axes again normally after acknowledging the message. • Cause: Distance is less than 8 mm [between 6 and 8 mm] • Solution: Acknowledge the message with the CE key. Remove the cause of the danger, or retract the axes from the danger zone.
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Error • Message example: || Tool – Tilting table • Meaning: Two objects monitored for collision are within 2 mm of each other. In order to move the axes out of the danger zone, you must deactivate collision monitoring. • Cause: Distance is less than 2 mm [between 0 and 2 mm] • Solution: Deactivate collision monitoring, remove the cause of danger, and move the axes out of the danger zone. In order to move the axes again, you must perform the following actions: 8
Press the Collision soft key.
8
In the “Collision Monitoring (DCM)” menu, set it to Inactive for manual operation.
8
Press the End soft key.
8
Manually move the axes (axis buttons) out of the danger zone.
8
Set collision monitoring to Active again.
In the Positioning with manual data input, Program run single block, smarT.NC and Program run full sequence operating modes, the motion is considered block-by-block: For example, in the Program Run, Full Sequence mode, the NC program is stopped in the block in which the minimum safe distance calculated by the iTNC would exceeded. This safe distance is calculated by the iTNC 530 dynamically. It results from the requirement that the traverse motion can be stopped in time at any time, taking the feed rate and direction into account. As soon as a traverse motion would result in a distance 5 mm less than the calculated safe distance, the motion is stopped or not performed before the traverse block is executed, and an error message is output. In an NC program with many small traverse blocks and high traverse speeds, this would mean, for example: If two machine components are on a collision course, then after DCM has braked and stopped the motion, the components would be between 0 mm and 5 mm from each other. Warning Collision monitoring is not active on a machine during reference run (incremental encoders). On machines with absolute path encoders, DCM is active as soon as the machine is switched on.
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Warning The following limitations and conditions must also be considered for reliable operation and correct application of DCM: DCM helps to minimize the danger of collision. However, certain constellations cannot be considered during operation. Please pay attention to the following information. DCM can only protect machine components from collision if they have been dimensioned correctly, and if their positions in the machine coordinate system have been entered correctly. Once DCM has been configured, all possible collisions must be tested in the Manual operating mode in order to detect faulty configurations. Collisions of defined machine components or the tool with the workpiece are not detected. The “handwheel superpositioning” function with M118 is not possible in combination with collision monitoring. In order to use M118, you must either deselect DCM via soft key in the “Collision Monitoring (DCM)” menu (see “Activating and deactivating monitoring” on page 6 – 111), or select a kinematics description without collision objects (CMOs). Please note that collision monitoring does not take any filters into account when calculating the path (e.g. nominal position value filters or angle tolerances for rotary axes in Cycle 32). The path deviation resulting from the nominal position value filters can be ignored. However, the machine manufacturer must calculate and define in MP1292 the deviations of the collision objects (CMOs) from the nominal path resulting from the angle tolerances for rotary axes (Cycle 32). DCM does not work in combination with the “Free Rotation” PLC function (page 8 – 7), since this special function for the defined “free” rotary axis runs asynchronously to the system. For the work envelope this means that all CMOs moved with the “free” rotary axis cannot be monitored by DCM. In the cycles for “Tapping without Floating Tap Holder,” you must note that DCM does not take into consideration the simple “tracking of the tool axis.” In order to use DCM for these cycles, bit 4 of MP7160 must be set to 1 (activates the exact interpolation of the tool axis with the spindle). If a machine is operated in lag mode or in semi-feedforward mode, then it is assumed that the machine manufacturer takes the greatest possible path deviation into account and increases the size of the collision objects accordingly. DCM does not yet check for collisions before machining of a workpiece begins (e.g. in the Test Run operating mode).
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Compensation of the angle tolerance
So that collision monitoring can function correctly when machining with Cycle 32 and angle tolerances, the maximum occurring angle tolerance must be limited with MP1290, and an oversize for collision objects must be specified with MP1292. The oversize (in MP1292) results from the maximum permissible angle allowance that the machine manufacturer must specify via MP1290 for Cycle 32, and from the dimensions of the swiveled or rotated machine components. MP1290 and MP1292 are only effective if option #40 (DCM), M128 or TCPM Function and Cycle 32 with angle tolerance are active. MP1290 Input:
Maximum angle tolerance for DCM 0.0000 to 3.0000 [°] Default: 3 [°]
(in combination with option #40) In connection with DCM (Dynamic Collision Monitoring), the machine manufacturer must enter a default maximum permissible angle tolerance via MP1290 (usually 0.1°). An angle tolerance programmed with Cycle 32 is then limited to this value if collision monitoring is active, i.e. the maximum effective angle tolerance is the value from MP1290. If DCM is switched off (via soft key or by switching to kinematics without collision-object definitions), the value programmed in Cycle 32 is in effect again. The angle entered in MP1290, in combination with the machine kinematics, is the basis for the allowance defined in MP1292 for collision-object calculations by the control. MP1292 Input:
Manual oversize for DCM 0 to 1000 [mm] Default: 0 [mm]
(in combination with option #40) For the DCM collision monitoring you enter here the necessary oversizes for the collision objects with a separate rotary axis filter. The following should be considered for the oversizes: For the rotary axes, such as a rotary table, assume the largest possible radius during rotation (usually the table radius), or for a swivel head the distance from the tool tip (longest tool) to the most distant point of the swivel head. Use this information to calculate the non-considered offset of the rotary axis. Do so by using the maximum angle tolerance entered in MP1290 to calculate the offset in the following manner:
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Example: Swivel head With maximum tool length: 200 mm, head length: 480 mm, angle tolerance: MP1290: 0.1 [°] soffset = r · sin (MP1290) soffset = 680 mm · sin (0.1°) soffset = 1.19 mm Since the oversize entered in MP1292 is added to each length of the bodies in the calculation, the oversize to be entered in MP1292 must be halved: MP1292 = soffset / 2 MP1292 = 1.19 / 2 MP1292 = 1 [mm] (rounded up from 0.595 mm) Since the resolution in MP1292 must be entered as an integer value in millimeters, the values input must be rounded up. Note Please note that when operating with multiple rotary axes, the offsets can summate, and so you must add the oversizes together. Example: OversizeTilting table = 0.595 [mm] OversizeRotary table = 0.396 [mm] MP1292 = 1 [mm] (rounded up from 0.991 mm)
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Integration of CMOs in the description table
In order to use collision monitoring, the kinematics of the CMOs must be entered in the description table (see “Kinematics tables” on page 75). The starting point for integrating the collision objects is always the tool reference point (e.g. spindle point) and the coordinate system (XYZ) valid for this point. It is then shifted via translations (e.g. X, Y or Z axes) and rotated or tilted via rotations (e.g. A, B or C axes). A collision object (CMO: cuboid, cylinder or plane) is included in the description table, taking the momentarily valid coordinate system into account. The location at which the CMO is placed in the description table is important for the resulting machine and monitoring models. Please see the example below and the associated description table on the next page: The swivel head is defined (via SUBFILE) in line 1, and the B axis (MachAxis B) is defined in line 2. This means that when the B axis is traversed, all subsequent CMOs and of course the subsequent machine axes (including translations and transformations) will move in the B direction relative to previous CMOs. In the lower example (machine figure), the portal (no. 3 in the figure) and all subsequent CMOs (no. 6 in the figure) rotate in the B axis direction relative to the double swivel head. The machine coordinate system shown in the figure below (illustrating the traverse directions) is valid. In the description table, after the portal in line 3, the machine axes X and Y, followed by a machine floor (CMO_FloorSection) are defined. This means that when the X or Y axis is traversed, the machine floor (CMO_FloorSection) moves in X or Y direction relative to the previously defined portal (CMO_Portal). The coordinate system shown is again valid.
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NR
KEY
0
TOOLFILE
AXIS COORD
1
SUBFILE1
2
MachAxis B
3
CMO
4
MachAxis X
ON/OFF FILE
DONTTEST
CMO_Portal
5
MachAxis Y
6
CMO
7
Trans
X
470.0L92
8
Trans
Y
-282.405
9
Trans
Z
-900
10
CMO
CMO_FloorSection
11
MachAxis Z
12
CMO
13
MachAxis C
14
CMO
1
CMO_Cabin CMO_LiftTable
CMO_Cabin
CMO_TurnTable
CMO_LiftTable
[END] Optimizing the DCM performance
The calculation of the collision objects, as well as the monitoring of their relative positions, is very processor-intensive for the iTNC. This calculation may not consume too many resources, since they are essential to the actual functions. In order to satisfy this demand, the number of collision objects must be defined such that no more than 50 intersections need be calculated. Otherwise increased block processing times could result from the greater calculation efforts. The number of collision objects defined (CYLINDERs and CUBOIDs in CMO files) is not definite, but rather the number of intersections calculated within the collision object model. Deactivated collision objects (see “Activating and deactivating monitoring” on page 6 – 111) and all definitions of excluded collisions (see “Collision exclusions” on page 6 – 109) are not included in the calculations. It is therefore important that all necessary calculations of intersections be specified in advance. Collision objects located in the same axis (CMOs between two “MachAxis…” machine-axis definitions), which due to physical realities can therefore not collide during traverse motions, are automatically ignored by the iTNC. This also applies if within two machine-axis definitions, collisions objects are separated by transformations (TRANS [X,Y,Z,A,B,C]). However, each of these objects can collide with the individual CMOs traversed in other axes.
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In order to determine the number of possible intersections, proceed as follows: 8
Ascertain the total number of collision objects defined (CYLINDERs and CUBOIDs) in the kinematics model with the most intersection calculations. Ascertain this number per axis (objects between two “MachAxis…” machine-axis definitions), and take into account any tool-carrier kinematics (TOOLFILE) which might be activated at run-time.
8
Ascertain the number of possible intersections (collisions) by proceeding as shown in the following example (see figure above):
No. Axis
No. of objects
Name
1
–
5
Tool, TOOLFILE and spindle with housing
2
X
3
Y
4
Z
5
A
6
–
3
Tilting table with shank
7
C
8
–
4
Rotary table with chuck
9 Calculation: No. of objects1 = 5 · (3 + 4) = 35 No. of objects2 = 3 · 4 = 12 Intersections = No. of objects1 + No. of objects2 = 47
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Collision exclusions
Definition of collision exclusions In order to avoid unnecessary calculations, collisions which cannot occur due to physical realities can be excluded from each other in the description table by using the DONTTEST column. This is useful since it saves processing time and avoids unnecessary reductions in the feed rate in the manual operating modes. Two different methods are available 1. Exclusions via existing definition tables of collision-monitored objects You can switch off monitoring relative to each other with existing definition tables by using the DONTTEST column. One or more objects can be defined in a CMO table. Collision monitoring is switched off for all objects defined in this table relative to the objects defined for them in the FILE column. In the description table below, this means that, for example, in line 12 the objects defined in “CMO_LiftTable” will not be monitored for collision with the objects defined in “CMO_Cabin.” NR
KEY
0
TOOLFILE
AXIS COORD
1
SUBFILE1
2
MachAxis B
3
CMO
4
MachAxis X
ON/OFF FILE
DONTTEST
CMO_Portal
5
MachAxis Y
6
CMO
7
Trans
X
470.0L92
8
Trans
Y
-282.405
9
Trans
Z
-900
10
CMO
CMO_FloorSection
11
MachAxis Z
12
CMO
13
MachAxis C
14
CMO
1
CMO_Cabin CMO_LiftTable
CMO_Cabin
CMO_TurnTable
CMO_LiftTable
[END] 2. Exclusion table DCM also makes it possible to exclude the collision of an entire machine component (definition table for CMOs) against objects from various other machine components. Here the indication of complete definition tables alone does not always suffice. It is now possible to call exclusion tables, consisting of only a DOC column, from the DONTTEST column.
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In this column you can enter all names of the various collision-monitored objects (= names in the DOC column of the objects in the definition tables). Collision monitoring is switched off for all objects named in this table relative to the objects defined for them in the FILE column. Table ExcludeDef1 NR
DOC
0
Rotary table
1
Clamper front
2
Clamper rear
4
Cabin left
5
Cabin right
6
Toola
[END] a. “Tool” is a name reserved for the tool by the system. See the special case below for the meaning. In the description table below, this means that, for example, in line 3 the objects defined in CMO_Portal will not be monitored for collision with the objects defined in the name table ExcludeDef1 above. NR
KEY
0
TOOLFILE
1
SUBFILE1
AXIS COORD
2
MachAxis B
3
CMO
4
MachAxis X
5
MachAxis Y
6
CMO
7
Trans
X
470.0L92
8
Trans
Y
-282.405
9
Trans
Z
-900
10
CMO
11
MachAxis Z
12
CMO
13
MachAxis C
14
CMO
ON/OFF FILE
CMO_Portal
DONTTEST
ExcludeDef1
CMO_FloorSection
1
CMO_Cabin CMO_LiftTable CMO_TurnTable
[END]
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HEIDENHAIN Technical Manual iTNC 530
Special case: Tool with the predefined CMO name “Tool” In some cases it can be necessary to exclude the tool from monitoring for collision with certain machine components (e.g. tool and tool carrier relative to portal for B heads). For mechanical reasons a collision between these components is impossible, but the tool is also permanently monitored for collision with all objects. For example, if the distance between the tool and a machine component with which it cannot collide becomes too small, this could already lead to a reduced feed rate. In this case the tool can be excluded according to the “Exclusion table” method described above by using the “Tool” name to remove this possibility of collision from monitoring. Activating and deactivating monitoring
Activating and deactivating monitoring There are various methods for activating and deactivating collision monitoring. Manually In the Manual operating mode, press the Collision soft key to open the “Collision monitoring (DCM)” menu, and activate or deactivate DCM for the Manual and Program Run operating modes (active/inactive). PLC module or FN17 It is always possible to create two kinematics tables with the same kinematics description on the control for each application. One of these tables would not contain any descriptions of collision objects (CMOs). Depending on your needs, you can activate the kinematics with or without collision monitoring via the PLC (Module 9097) or with FN17: SYSWRITE ID290 NR1. WRITE TO KINEMATIC At the same time, monitoring of these CMOs can be switched off by entering “1” in the ON/OFF column of the active description table. This can also be during program run in the active description table using the WRITE TO KINEMATIC function. Example: Deactivation of an active COM table so that collision monitoring is deactivated for a certain action, such as a tool change. Table in the new kinematics description format before overwriting: NR
KEY
AXIS COORD
ON/OFF FILE
DONTTEST
: 1
CMO
2
MachAxis B
3
CMO
4
MachAxis X
CMO_Head
PLC:\Kinemat\...
CMO_Portal
PLC:\Kinemat\...
: [END]
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Comment: 0 BEGIN PGM N545TCM MM : 4 WRITE TO KINEMATIC AT COLUMN “ON/OFF” CAPTURE “FILE” KEY “CMO_Portal” = 1
Overwrite cell in the kinematics table
: Table after overwriting with collision monitoring switched off for the CMO_Portal object: NR
KEY
AXIS COORD
ON/OFF FILE
DONTTEST
: 1
CMO
2
MachAxis B
3
CMO
4
MachAxis X
1
CMO_Head
PLC:\Kinemat\...
CMO_Portal
PLC:\Kinemat\...
: [END] Note Ensure that no matter which method was used to deactivate collision monitoring, that it is switched on again after the desired action (without collision monitoring) has finished. Configuration of the definition table
Definition table for collision-monitored objects (CMO table) The CMO table contains the descriptions of cuboids, cylinders or planes, which are included as collision-monitored objects at points in the transformation sequence. A definition table for one or more machine objects can be included at the following points in the transformation chain: Description table (main kinematics) In SUBFILE1, SUBFILE2 (partial kinematics via assignment table) and in a TOOLFILE (dynamic tool-carrier kinematics during tool change). Creation of a CMO table:
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8
In program management, switch to the desired directory and enter the name of the description table, including the extension .TAB.
8
Choose the table format with the KEY, X, Y, Z, AXIS, RADIUS, HEIGHT and DOC fields.
8
With the aid of the formatting table for a CMO table shown below, enter the description of the collision-monitored object.
HEIDENHAIN Technical Manual iTNC 530
Format of the CMO table: Column
Input
Description
NR
0, 1, 2 ...
Automatic line numbering
KEY
Cylinder
The following parameters for the X, Y, Z, AXIS, RADIUS, and HEIGHT columns define a cylindrical object, starting from the position of the previous translation, rotation or defined machine axis. Starting from this point, the cylinder is offset from X, Y and Z, and defined in the direction of the axis entered in AXIS, with radius RADIUS and height HEIGHT.
Cuboid
The following parameters for the X, Y and Z columns define a rectangular object, starting from the position of the previous translation, rotation or defined machine axis. Starting from this point, the cuboid is defined from a minimum point in X, Y and Z, to a maximum point in the next line in X, Y and Z, (as with the BLK definition in conversational programming).
LimitMin
Here the columns X, Y and Z can be used to define limiting planes in the X, Y and Z directions.
LimitMax AXIS
X, Y, Z
Entry of the axis designation for the direction of “Cylinder”-type objects in the KEY column
RADIUS
e.g. 40 [mm]
Entry of the radius for “Cylinder”-type collision-monitored objects in the KEY column
HEIGHT
e.g. 150 [mm]
Entry of the height for “Cylinder”-type collision-monitored objects in the KEY column
DOC
Name of the objecta
Entry of a unique name for the object entered in the KEY column, so that in case of an imminent collision, a clear message regarding the danger of collision can be output in the header (e.g. Tool Rotary table)
a. The “Tool” name is already assigned by the system, and may not be used twice.
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Example of a CMO table (“CMO_TurnTable” object: no. 14 from the description table example): NR
KEY
X
Y
Z
AXIS
RADIUS
HEIGHT DOC
0
Cylinder 0
0
10
Z
270
70
1
Cuboid
-100
-70
70
100
-40
120
Cuboid
-100
40
70
100
70
120
2 3 4
Rotary table Clamper front Clamper rear
[END] Representation of a collision-monitored object (CMO) with the CMO table above. The coordinate system shown indicates the transformed reference point, which is active in the description table. In this case it is the center point of the rotary table.
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Example of a CMO table (“CMO_Cabin” object) as an example for limiting planes: NR
KEY
0
LimitMin -1200
X
Y
Z
AXIS RADIUS
HEIGHT DOC Cabin left
1
LimitMax -1000
Cabin right
[END] Representation of limiting planes as in the CMO table above (“CMO_Cabin”) with two planes, which were defined in the X direction
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6.5.5 Temperature Compensation with Tilting Axes A change in temperature always causes a change in length. For tilting axes, thermal growth of the spindle head must be compensated in the X, Y and/or Z axes. There are two possibilities for temperature compensation: Temperature compensation only with “Tilt working plane” (not possible with the description tables in the new format) • by entering a formula in the MP7530 column of the description table Permanently effective temperature compensation • by entering a formula in the TEMPCOMP column of the description table In most cases, the formula to be used will be the formula for calculating a change in length: Δλ = λ 〈 ΔΤ 〈 α Δl: Change in length l: Length ΔT: Change in temperature α: coefficient of expansion (steel: 11.5 · 10–6 1/K) Example:
Z1
Z1 = 300 mm (at 20 °C) αsteel = 11.5·10–6 1/K (coefficient of expansion of steel) W486: Temperature measured by a Pt 100 thermistor “MP7530.x” = 300 + 300 * 11.5e–6 * (W486 – 20) “TEMPCOMP” = 300 * 11.5e–6 * (W486 – 20) Better would be: “MP7530.x” = 300 + 3.45e–3 * (W486 – 20) “TEMPCOMP” = 3.45e–3 * (W486 – 20)
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If the front part of the spindle gets warmer by 40 K, it results in a spindle length growth of Δl = 300 mm ⋅ 40 K ⋅ 11.5 ⋅ 10
Constraints on the entry of a formula
–6 1 ---- = 0.138 mm K
Maximum length of a formula: 31 characters Up to 16 variables in total Mathematical operations in lowercase letters, variables in uppercase letters The following operations are permitted in a formula: • Addition + • Subtraction – • Multiplication * • Division / • Logarithm to the base of 10 log10 • Exponent ^ • Parentheses ( ) • Sine sin • Cosine cos • Tangent tan • Arc sine asin • Arc cosine acos • Arc tangent atan • Square root sqrt Note Faulty syntax in the formula is not yet detected in the kinematics tables in the new format (TEMPCOMP column), and when defined via MP7530, then only when an NC program is begun. The error message MP75xx not defined then appears.
Temperature compensation
If the “tilted working plane” function is active, the position of the tilting element is calculated for each positioning movement for the kinematics tables in the old format when temperature compensation is entered via MP7530.x. The variables are monitored every second, and if there are any changes, MP7530.x is recalculated. Note Remember that the changes are compensated with a certain delay. Positioning blocks that have already been calculated can no longer be considered. This type of temperature compensation is no longer possible with the kinematics tables in the new format. For this, please use the permanent temperature compensation in the TEMPCOMP column of the description table.
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Permanent temperature compensation
The permanent temperature compensation with the formula from the TEMPCOMP column is only effective if the description table is active. The algebraic sign of the compensation must match that of the axis error compensation in Words W576 to W584. The variables are monitored every second and changes are reported to the position controller. The position controller uses the formula in the TEMPCOMP column and the current angle of the rotary axes to calculate the compensation values. For temperature compensation, only rows with an entry in the TEMPCOMP column are considered, including the entry 0. Any missing entry (NO ENT) interrupts temperature compensation at this point, meaning that the subsequent rows will not be taken into account. If rows 1 to 7 in the following example contained no entries instead of the entry 0, the temperature compensation would only be applied to the Z axis. The tilting axes would not be considered. You can use this interruption of the temperature compensation to reduce processing time if, for example, a swivel head and tilting table follow each other in a table, but the temperature compensation is only to be applied to the swivel head. You would then make no entry for the tilting table in the TEMPCOMP column. With Module 9040 or 9041, transfer value 8, the value of the temperature compensation can be determined. The formula is only entered for the transformations where compensation is to occur. Example of a description table with permanent temperature compensation for a 45° double swivel head (also applies to the TEMPCOMP column in the description tables in the new format): NR
MP7510 MP7520 MP7530
TEMPCOMP
MP7550
0
4
0
+150.5
1.73e–3*(W486-20)
0
1
1
0
–1.2
0
0
2
8
0
–45
0
0
3
4
0
+251.5
0
0
4
32
0
0
0
0
5
8
0
+45
0
0
6
1
0
+0.8
0
0
7
16
0
0
0
0
8
0
0
0
0
0
9
1
0
0
0.0345*(W486-20)
0
10
2
0
0
0.0230*(W486-20)
0
11
4
0
0
0.0173*(W486-20)
0
[END]
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6.5.6 Changing the Milling Heads In order to change the milling heads, some new machine parameter values must be defined along with the new tilting axis geometry (e.g. in the assignment table via the SUBFILE1 or SUBFILE2 entries). For this purpose a machine-parameter subfile can be entered in the MPFILE column. The machine-parameter subfile contains the new axis configuration, the new axis motors, the assignments of the PWM outputs and the encoder inputs, etc. In this machine-parameter subfile there must be no machine parameters that provoke a control reset: 8
In the standard machine parameter file, the bits in MP10 need to be set to 1 for all possible axes. Note If an axis deactivated in the standard machine-parameter file becomes activated in the machine-parameter subfile, the axis remains deactivated.
8
Switch off drives for the affected axes.
8
Choose a row in the assignment table in which a machine-parameter subfile is activated which sets the bits in MP10 to 0 for the affected axes. If the encoder of a digital axis needs to be disconnected, then the appropriate bit must also be set in MP20.x bit x = 0. In addition, MP2200.x = “” must be set. Note On the CC 422, encoders with EnDat interface must not be disconnected and reconnected during operation, since the absolute value is only read when the control is started up. However, this is possible with the CC 424!
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8
Change the milling head.
8
Choose a row in the assignment table which contains a machine-parameter subfile for the new axes to set the bits in MP10 to 1 for the new axes. If an encoder on a digital axis was disconnected and reconnected, then MP20.x and MP2200.x must be entered again correctly.
8
Switch on drive for the new axis/axes.
8
After the drive has been switched on, the affected motors should make at least one revolution.
Tilting Axes
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6.5.7 “Tilt Working Plane” Feature The user defines the position of the working plane in Cycle 19 “Tilted Working Plane.” Then the iTNC performs a coordinate transformation. With the 3D ROT soft key you can activate the tilted working plane separately for the MANUAL and PROGRAM RUN operating modes. With MP7500 you can define the function of the tilted working plane cycle. With FN18: SYSREAD ID290 NR2 you can request the values of the individual bits from MP7500. Assignment of input values (Cycle 19)
With MP7500 bit 1 you define whether the input applies to the position of the tilted axes (bit 1 = 0) or the position of the working plane (bit 1 = 1). If the input value applies to the position of the working plane, the iTNC calculates the position of the tilting axes and saves the coordinates in Q parameters: Q120: Coordinate of the A axis Q121: Coordinate of the B axis Q122: Coordinate of the C axis With FN17:SYSWRITE ID990 NR5 IDX5 you can determine if a principal axis is shown on top of another principal axis in an untilted coordinate system due to a tilt motion.
Automatic positioning
After the coordinate transformation, the Z axis remains parallel to the tool axis, perpendicular to the X/Y plane. With MP7500 bit 2 you define whether the “tilted working plane” function automatically positions the tilting axes (bit 2 = 1). In this case the user can enter the feed rate and setup clearance in the cycle. The iTNC then moves automatically to the setup clearance and interpolates the swivel and principle axes so that the tool point remains in the same position in the tilted coordinate system.
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Datums
Servo-controlled axes: During “datum setting” for X, Y and Z, the datum is recalculated back to the home position of the tilting element when “tilted working plane” is active (1). So when “tilted working plane” is inactive and the tilting element is in its home position, the tool is positioned at the datum set while “tilted working plane” was active (2).
(2)
(1)
Z X
Behavior during datum setting can also be influenced via MP7500 bit 5: MP7500 bit 5 = 0 (is entered in the kinematics description table) During datum setting in X, Y and Z with an active tilted working plane, the current rotary-axis coordinates are checked to see if they are correct for the tilt angles, and with an inactive tilted working plane the rotary axes are checked to see if they are at 0. For datum setting with an active tilted working plane, the corresponding angles must be entered under 3-D ROT. MP7500 bit 5 = 1 (is entered in the kinematics description table) It can happen with titling elements with Hirth couplings that by locking the Hirth coupling, the actual value of the encoder will no longer exactly agree with the mechanical position of the tilting element. If this happens, the nominal values should be used to calculate the various presets (MP7682 bit 1). If problems continue to occur, MP7500 bit 5 should be set to 1. The checking described in MP7500 bit 5 = 0 does not take place. The tilt angles entered under 3-D ROT are used to calculate the presets in X, Y and Z. With MP7682 bit 1 you define whether the nominal or the actual values are used to calculate the presets during “datum setting” (is valid for MP7500 bit 5). See also “Special case: Reference-point setting with the PLANE function, Hirth axes and M114” on page 6 – 122.
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No servo-controlled axes: The user must enter the current positions of the tilting axes by using the 3-D ROT soft key. Note In the combination of coordinate transformation cycles, note the sequence of activation and deactivation. Special case: Reference-point setting with the PLANE function, Hirth axes and M114
If rotary axes with Hirth coupling are positioned via PLC or NC, then as mentioned above, angles can only be entered according to a certain grid. Machining can be performed in any plane by tilting the plane with the PLANE function and programming the rotary axis grid coordinates with M114 (automatic compensation of the machine geometry when working with tilting axes). It is possible to save and set reference points in this state. The iTNC then uses the nominal positions of the rotary axes programmed in M114 to calculate the reference point. With MP7493 the machine manufacturer can enter a maximum deviation of the rotary axes based on the nominal position resulting from the orientation of the working plane. The control accepts this deviation when setting reference points and when measuring with M114. The default value for this machine parameter is 0.005. The iTNC uses the current ACTUAL/NOMINAL positions (MP7682, bit 1) of the rotary axes to calculate the reference point.
Note Please note that in this procedure the tool might not be perpendicular to the tilted working plane. MP7493
Input:
Spatial angle C ≠ 0
On machines with C tables and tool axis Z, the spatial angle C ≠ 0 (with A = 0 and B = 0) can be realized through a rotation of the coordinate system or a rotation of the table: 8
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Maximum deviation of the current tool orientation relative to the tool axis when setting a reference point with the PLANE function with M114 0.0000 to 30.0000 [degrees] Default: 0.005
With MP7500 bit 6 = 0, the spatial angle C is realized through a rotation of the coordinate system. With MP7500 bit 6 = 1, the spatial angle C is realized through a rotation of the table. At the same time, the angle is saved in Q122. This makes it possible, for example, to machine a workpiece by always using the same axis for paraxial linear blocks in the X/Y plane.
HEIDENHAIN Technical Manual iTNC 530
Interrogating the 3-D ROT data via PLC
PLC Module 9045 makes the relevant data for the “Tilt working plane” function available to the integrated PLC as well. The following data are available: Tilt angles (A, B, C) Tilted axes (A, B, C) In which operating mode the “Tilt working plane” function is active When the 3-D ROT data are interrogated via Module 9045, the data are entered in four sequential double words beginning from the given starting address [n]. Note Ensure that the addresses are available on the control, and that the given target address is a double word address. The data are output in the following format: D[n+0]: D[n+4]: D[n+8]: W[n+12]:
W[n+14]:
Tilt angle A (unit 0.0001°) Tilt angle B (unit 0.0001°) Tilt angle C (unit 0.0001°) Currently tilted axes (bit-encoded) Bit 0: Axis A tilted Bit 1: Axis B tilted Bit 2: Axis C tilted “Tilt working plane” is active in operating mode Bit 0: Tilting active in Program Run operating mode Bit 1: Tilting active in Manual operating mode
Module 9045 Reading the 3-D ROT data Call: PS B/W/D/K CM 9045 Error recognition:
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Marker
Value
Meaning
M4203
0
3-D ROT data read
1
3-D ROT data not read
Tilting Axes
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Conditions and constraints
Conditions: The display position in the status window is referenced to the tilted coordinate system. In the combination of coordinate transformation cycles the sequence of activation must agree with the sequence of deactivation. The tool radius compensation in the working plane and the tool length compensation parallel to the tool axis is active. For machining with tilting tables, the coordinate system remains parallel to the machine coordinate system. Constraints: PLC positioning movements are always parallel to an axis of the machine coordinate system (Cycle 19 has no influence). A datum shift via PLC also works with the “tilted working plane” function. The axis designations for the tilting axes are limited to A, B and C. Each designation can be used only once. With an active Cycle 19 “tilted working plane,” it is not possible to position with M91 or M92. If the position of the working plane is entered, only the following swivel axes (with tool axis Z) are permissible: Double swivel head 45°: Axis sequence A fixed; B or C variable; A fixed; B or C variable Rectangular double swivel head: Axis sequence A or B variable; C variable Rotary or tilting table: Axis sequence C variable; A or B variable Swivel head and rotary table: Axis sequence A or B variable; C variable Tilting table 45°: Axis sequence C variable; A fixed; B variable; A fixed Rectangular double swivel head: Axis sequence A variable; B variable Universal swivel head: Axis sequence A fixed; B –90°; A variable; B +90°; A fixed; C variable Swivel head and rotary table: axis sequence B variable, A variable Swivel head and rotary table: Axis sequence C fixed, A fixed, B fixed –90°, A variable, B fixed +90°, A fixed, C variable With tool axis Y: Rotary or tilting table: Axis sequence B variable; A variable Double swivel head 45° and rotary table: Axis sequence A fixed; C variable; A fixed; B variable Rotary or tilting table: Axis sequence A or C variable; A or C variable Swivel head 45° and rotary table: Axis sequence A +45°, B variable, A –45°, C variable With tool axis X: Universal swivel head: Axis sequence B fixed; A variable; B fixed; C variable
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MP7500 Format: Input:
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“Tilt working plane” (inactive preset table) %xxxxxxxx Bit 0 – Switch-on “tilted working plane” function 0: Off 1: On Bit 1 – 0: Angles correspond to the position of the tilting axes of the head/table 1: Angles correspond to the spatial angle (the iTNC calculates the position of the tilted axes of the head/table) Bit 2 – 0: The tilting axes are not positioned with Cycle 19 1: The tilting axes are positioned with Cycle 19 Bit 3 – 0: The current tilting-axis position is taken into account with respect to the machine datum 1: The 0° position is assumed for the first rotary axis Bit 4 – 0: Compensate mechanical offset during exchange of the spindle head when calling M128, M114, TCPM or “tilted working plane” 1: Compensate mechanical offset during PLC datum shift Bit 5 – 0: The current tilting-axis position is taken into account with respect to the machine datum 1: The tilting-axis position that was entered with the 3-D ROT soft key applies Bit 6 – 0: Spatial angle C is realized through a rotation of the coordinate system 1: Spatial angle C is realized through a rotation of the table Bit 7 – 0: The current tilting-axis position is taken into account with respect to the machine datum 1: The active tilting-axis position is a) derived from the tilting angles in the 3D ROT window if manual tilting is active b) derived from the reference coordinates of the rotary axes if tilting is inactive Bit 8 – 0: The tilting axis positioning is considered depending on bit 3, bit 5 and bit 7 1: If manual tilting is active, the datum to be set for the principal axes X, Y and Z is recalculated back to the home position of the tilting element
Tilting Axes
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MP7500 “Tilt working plane” (active preset table) As of software version:340 422-01, 340 480-02 Format: %xxxxxxxx Input: Bit 0 – Switch-on “tilted working plane” function 0: Off 1: On Bit 1 – 0: Angles correspond to the position of the tilting axes of the head/table 1: Angles correspond to the spatial angle (the iTNC calculates the position of the tilted axes of the head/table) Bit 2 – 0: The tilting axes are not positioned with Cycle 19 1: The tilting axes are positioned with Cycle 19 Bit 3 – No function Bit 4 – No function Bit 5 – Test of the tilting axis during “datum setting” in X, Y and Z 0: Current tilting-axis position must fit the defined tilting angles 1: No test Bit 6 – 0: Spatial angle C is realized through a rotation of the coordinate system 1: Spatial angle C is realized through a rotation of the table Bit 7 – No function Bit 8 – No function MP7510 Format: Input:
Transformed axis %xxxxxx 0: End of the transformation sequence Bit 0 corresponds to axis X Bit 1 corresponds to axis Y Bit 2 corresponds to axis Z Bit 3 corresponds to axis A Bit 4 corresponds to axis B Bit 5 corresponds to axis C MP7510.0–14Transformation 1 to transformation 15 MP7520 Format: Input:
Additional code for transformation %xx Bit 0 – Tilting axis 0: Swivel head 1: Tilting table Bit 1 – Type of dimension in MP7530.x 0: Incremental dimension for swivel head 1: Absolute with respect to the machine datum for tilting table MP7520.0–14Transformation 1 to transformation 15
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MP7530 Input:
Type of dimension for transformation Entry of a formula is possible, see page 4 – 6 0: Free tilting axis MP7530.0–14Transformation 1 to transformation 15 Note MP7530 cannot be overwritten with Module 9031 (overwrite machine parameters), since the MP contains a string, but the module transfers an integer value.
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MP7550 Input: MP7550.0 MP7550.1 MP7550.2
Home position of the tilting element –99 999.9999 to +99 999.9999 A axis B axis C axis
MP7682 Input:
Machine parameter with multiple function Bit 1 – Reference value for calculating the preset during “datum setting” 0: Actual value is calculated 1: Nominal value is calculated
Tilting Axes
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6.5.8 Automatic Compensation of Offset for Tilting Axes Unlike the “tilted working plane,” here the coordinate system is not tilted. With M114, M128 or TCPM, the iTNC compensates the offset of the tool that results from tilting the axes. The tool tip is always located on the programmed nominal coordinates.
B B
dz
dx dB Z
X
The iTNC can perform a 3-D length compensation; the radius compensation must be performed by the CAD system or the postprocessor. If the iTNC compensates the tool length, then the programmed feed rate refers to the tool point. Otherwise it refers to the tool datum. Miscellaneous function M114
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Automatic compensation with M114: Linear and rotational movements are superimposed. The resulting contour deviations depend on the length of the linear interpolation. When the table is rotated, the coordinate system is rotated against the machine coordinate system. The iTNC does not take this into account. M114 can be used with non-controlled tilting axes or PLC tilting axes. In this case, the current tilting angle and the tilting axis are entered in the NC block behind M114. M114 is effective locally in cycles, i.e. the function is canceled before the return to the main program. If you want M114 to also be effective in the main program, you must use FN17: SYSWRITE ID420 NR0 IDX0 = 0 (globally effective coordinate transformation).
HEIDENHAIN Technical Manual iTNC 530
Miscellaneous function M128, TCPM
Automatic compensation with M128 or TCPM: Linear and rotational movements are superimposed. The resulting contour deviations are compensated. When the table is rotated, the coordinate system is rotated against the machine coordinate system. The iTNC takes this into account. M128 and TCPM remain in effect even after a change in operating modes. This means that the axis can be moved with the compensated machine geometry in Manual mode with the axis direction keys, or in the El. Handwheel mode. With the miscellaneous function M118, the handwheel positioning movements can be superimposed on the program run movements. The iTNC automatically performs the compensating movements in the principal axes. A transitional element is inserted at non-tangential contour transitions when positioning with rotary axes. However, W1026 (axes in position) is not set and axes will not be clamped. This problem can be solved with M134 (Exact stop at non-tangential contour transitions when positioning with rotary axes): 8
Program M134 in the NC program or set MP7440 bit 6 = 1.
When M128 or TCPM are used, the principal axes make compensating movements: 8
In MP7471, define the maximum velocity of the principal axes during compensating movements.
MP7440 Format: Input:
Output of M functions %xxxxxxx Bit 6 – Automatic activation of M134 0: M134 must be activated in the NC program 1: M134 is automatically activated when an NC program is selected.
MP7471
Maximum velocity of the principal axes during compensating movements through M128 or TCPM 0 to 300 000 [mm/min]
Input:
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Tilting Axes
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With M144 the movement of a tilted axis is recorded in the display. There is no need for the axes to perform a compensating movement. M144 is deactivated with M145.
75
Miscellaneous function M144/ M145
75
50
50 Z
Display:
Z0 X0 Y0 B0
Z
X
Display: L B+90 M144
X
Z +125 X –125 Y0 B +90
FN18: SYSREAD ID310 NR144 can determine if M144 is active or inactive. MP7502 Input:
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Functionality of M144/M145 %xxx Bit 0 0: M144/M145 not active 1: M144/M145 active Bit 1 – M144/M145 in the automatic modes 0: M144/M145 active 1: M144 is activated automatically at the start of an NC program. It can only be deactivated with M145 during an NC program. Bit2 – M144/M145 in the manual modes 0: M144/M145 not active 1: M144/M145 active
HEIDENHAIN Technical Manual iTNC 530
6.5.9 Virtual Tool Axis General information
When moving the axes in the manual operating modes, and when reapproaching the contour after a program interruption, you can select via the 3D ROT and TOOL AXIS soft keys the coordinate system of the tool. The axes can be moved in the current tool axis direction even before traversing the reference marks. To accomplish this, the last position of the rotary axes before power-off is stored remanently for incremental encoders. These remanently stored axis values are shown in a pop-up window when the control is started, and must be acknowledged by the machine operator with ENT (confirmation of the values) or NO ENT (values deviate, reference run must be performed first).
Activation
MP7503 Input:
Virtual tool axis – Reapproaching the contour and manual traverse in the current tool-axis direction 0: Inactive 1: Active
6.5.10 Tilting Functions with Open-Loop Rotary Axes Inclined milling with open-loop rotary axes (counter axes)
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Machines with rotary axes that only have open-loop axes (counter axes, MP120.x = 0, are not controlled) can be used for inclined milling. The following procedure is necessary: 8
With M128 inactive (TCPM: the position of the tool tip remains constant when positioning tilting axes), the machine operator sets the rotary axes to the required nominal values.
8
When M128 is activated, the control assumes the actual values of the noncontrolled rotary axes, and uses them to calculate the changed position of the tool center point.
8
The display of axes X/Y/Z is updated with the newly calculated values, and the compensating movement is performed with the next positioning.
8
As long as M128 is active, the positions of the non-controlled rotary axes are monitored. If the positions of these axes deviate by more than the values defined in MP1110.x (standstill monitoring), then an error message is output and the momentary machining is interrupted.
8
This function is even permitted after a program interruption with the MANUAL TRAVERSE soft key. In this case the new compensating movement is determined after switching with the APPROACH POSITION soft key.
Tilting Axes
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6.5.11 Cylindrical Surface Cycles 27 and 28, “Cylinder Surface,” enable the user to machine a contour on a cylindrical surface (see the User’s Manual). Prerequisites of the previous kinematics description: In MP7510 to MP7530, the center of rotation of a rotary axis must be defined (see example 3). If PLC datum compensation is used, the same home position must apply in the description of the machine geometry in MP7510.x to MP7530.x as in the datum shift. After a change in MP7510.x or MP7530.x, the datum must be reset. Prerequisites of the new kinematics tables: A complete description of the kinematics, from the tool reference point to the center of the rotary axis, must exist. If the axis geometry is changed (MachAxis ...), the datum must be reset.
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Tilting Axes
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6.6 Synchronized Axes 6.6.1 Gantry Axes In gantry axes, tandem tables, etc., two servo-controlled axes are coupled so that they can only move simultaneously. The main axis is referred to as the master, and the tracking axis as the slave. From a maximum of nine controlled axes, four times two axes can be controlled synchronously. The function is effective during control both with following error and with velocity feedforward. Activating synchronized axes: 8
Assign a slave axis to a master axis.
MP850.x Input:
Example
Synchronized axes 0: Master axis 1: Slave axis to axis 1 2: Slave axis to axis 2 3: Slave axis to axis 3 4: Slave axis to axis 4 5: Slave axis to axis 5 6: Slave axis to axis 6 7: Slave axis to axis 7 8: Slave axis to axis 8 9: Slave axis to axis 9
Axis 4 is slave to axis 1: MP850.0 = 0 MP850.1 = 0 MP850.2 = 0 MP850.3 = 1 MP850.4 = 0 MP850.5 = 0 MP850.6 = 0 MP850.7 = 0 MP850.8 = 0
Master-slave position deviation
The iTNC monitors the synchronism of the coupled axes. If the master and slave axes deviate from each other by the difference of the following errors, the iTNC displays the slave axis with the message EXCESSIVE SERVO LAG IN . The LAG display shows the current difference in position. 8
In MP855.x of the slave axis, enter the maximum permissible difference in positions between the master and slave.
If an offset is caused in the axes through an emergency stop, they will be synchronized after the emergency stop.
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Datum at position after switch-on (MP860.x = 0)
Entry for the slave axis With MP860.x you can select whether the position after switch-on should be used as a synchronization reference. Master and slave axes must be at identical positions. If the defined datums are to be reproduced, then only the master needs to be moved over the reference mark. Monitoring of synchronized axes begins immediately upon switch-on.
Datum at reference marks (MP860.x = 1)
Entry for the slave axis With MP860.x you can select whether the position should be ascertained by traversing the reference marks. After crossing over the reference mark, the master and slave axes are positioned to the same value. The default setting can be corrected with MP960.x (machine datum). In order for MP960.x to be set, the axes must traverse the reference marks with MP860.x = 0, so that no compensation movements are made. An offset in the axes is corrected after both reference marks are traversed. Reference mark traverse is ended as soon as a reference mark is traversed in both axes. The monitoring function is not active until after the compensation movement. The monitoring function is not active before the reference marks are traversed. Conditions: The same type of reference mark traverse must be set for both the master and slave axes (MP1350.x). The velocity with which an offset (after traversing a reference mark or emergency stop) is compensated for is defined in MP1330.x for the slave axis. In the sequence for traversing the reference marks (MP1340.x), the master axis must be defined before the slave axis. The compensation movement can not be stopped with an NC stop (only with an emergency stop). The compensation movement is not considered in the following words: • W1026 (Axes in position) • W1028 (Axes in motion) If the master axis has traversed the reference mark at the time of an NC stop or an emergency stop, but the slave axis has not yet crossed it, then the slave axis can only be moved across it by using the axis-direction keys. Using a linear encoder: it is sufficient if the master axis has one reference end position. Using the speed encoder for linear measurement: One reference end position is enough, but the NC needs a reference end position signal for both axes (W1054).
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Synchronized Axes
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Conventions
For synchronized axes: The slave axis cannot be moved separately. The nominal value display of the slave axis shows the nominal value of the master axis. The PLC program must ensure that the master axis does not move until the slave axis is ready (clamping, feed-rate enable). For the slave axis, the bits for traverse direction in W1030 and axis in motion in W1028 are not set. An axis cannot be both master and slave at the same time. Linear and nonlinear axis error compensation as well as temperature compensation must be entered separately for each axis. The values for rapid traverse, acceleration, jerk, software limit switches, feed rate for reference mark traverse, and manual feed rate are also taken over from the input values of the master axis for the slave axis. When operating with following error, the kv factors for master and slave must be the same. The axes must be either both analog or both digital. Master and slave axes can be linear or rotary axes. For gantry axes, one position encoder is sufficient. The nonlinear axis-error compensation can be used separately for master and slave axes. For the nonlinear axis-error compensation, master and slave axes may be dependent on each other.
Example
MP855.x Input:
Synchronization monitoring 0 to 100.0000 [mm] 0: Monitoring not active
MP860.x Input:
Datum for synchronous control 0: Datum at position after switch-on 1: Datum at reference marks
Gantry axes with two position encoders Position encoder of the slave axis is mounted mirror-inverted.
0
–200
200
Change counting direction
200 Master
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0 Slave
0
Shift machine datum (MP960.x) 0 Slave
200 Slave
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Synchronized Axes
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6.6.2 Master-Slave Torque Control In master-slave torque control, two motors (master and slave) are mechanically coupled. Because of the coupling, only one position encoder is required. The motor to which the position encoder is assigned is the master. From a maximum of twelve controlled axes, six times two axes can be controlled in the torque-master-slave-control, whereby you must keep in mind that the master and slave axis are on the same speed controller PCB. First speed controller PCB: X15 to X20 Second speed controller PCB: X80 to X85 In principle there are two applications: Minimization of mechanical play through mutual tensioning Distribution of torque with a rigid coupling
Gear
Rack
Motor
Minimization of mechanical play through mutual tensioning
Coupling
Motor
Motor
Shaft Distribution of torque with a rigid coupling
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Method of function
Position control is deactivated in the slave axis. The nominal velocity of the master axis is at the same time the nominal velocity of the slave axis. The speed controllers of both axes remain independent. The manipulated variables coming from the speed controllers, i.e. the nominal torque current values, are weighted with the torque constants of the motors and compared with each other. In addition, a tensioning torque (MP2900.x) can be introduced at this comparison point. To permit a distribution of drive torque, the nominal torque of the slave axis can be multiplied with a weighting factor (MP2920.x). The result at the comparison point is fed to a torque balancing controller that amplifies it proportionally (MP2910.x). The manipulated variable of the balancing controller is a speed compensation value that is added to the current speed value.
Position encoder
Speed encoder
Speed encoder
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Synchronized Axes
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Gantry axes in master-slave torque control
It is possible to run gantry axes in master-slave torque control. The gantry master and gantry slave axes are at the same time torque master axes and have one torque slave axis each.
Gantry master axis
Axis 3
Axis 1
Torque master axis
Torque slave axis
Torque master axis
Torque slave axis
Axis 2
Axis 4
Gantry slave axis Example for the MP entries: MP850.0 = 0 Axis 1 is master axis MP850.1 = 1 Axis 2 is slave to axis 1 MP850.2 = 1 Axis 3 is slave to axis 1 MP850.3 = 2 Axis 4 is slave to axis 2 MP860.0 = 0 or 1 Axis 1: Datum for synchronous control MP860.1 = 0 or 1 Axis 2: Datum for synchronous control MP860.2 = 2 Axis 3 is torque slave axis MP860.3 = 2 Axis 4 is torque slave axis
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Activation of master-slave torque control
8
Activate the master and slave axes with MP10.
8
In MP110.x, define the position encoder for the master.
8
Enter MP110.x = 0 for the slave.
8
In MP850.x, define the master axis as the main axis and the slave axis as the tracking axis.
8
Activate the master-slave torque control by entering MP860.x = 2 for the slave axis.
Axes for which master-slave torque control is active can be switched by the PLC to single-axis operation during operation by overwriting MP850.x. MP860.x Input: Setting the masterslave torque control for minimizing mechanical play
September 2006
Datum for synchronous control 2: Axis is torque slave axis
8
For the master and slave axes you must select in MP1040 the same or the opposite direction of rotation, depending on the application (MP210 has no effect on the slave).
8
Adjust the current controller for the master and slave axes. See “Commissioning” on page 6 – 317.
8
Enter the following temporary values in the machine parameters for the slave axis: MP2900.x = approx. 20% to 25% of the rated torque of the motor MP2910.x = 3 MP2930.x = 0
8
In MP2920.x, enter the ratio of the mass moment of inertia of the master to the mass moment of inertia of the slave. For identical motors, therefore, the value to be entered is 1.
8
If you use a position encoder, enter 100 in MP2930.x for the slave axis; if you do not use a position encoder, enter the value 0.
8
Enter MP2510.x (I factor of speed controller) = 50 or, if you have one, an empirical value for your motor.
8
Adjust the P and I factor of the speed controller for the master and slave axes at the same time (see “Commissioning” on page 6 – 317). It is not permissible to commission the master and slave axes separately, since the motors must be tensioned during commissioning.
8
If you do not reach the desired rise time (approx. 10 ms), you can increase the P factor with the aid of a filter. Here the band-rejection filter is preferable to the low-pass filter.
8
To find the center frequency for the band-rejection filter, slowly increase the P factor to the oscillation limit and find the frequency with the integrated oscilloscope.
Synchronized Axes
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Note For low-frequency oscillations (< approx. 200 Hz) you should not use a filter, because it may have a negative influence on the dynamics of the control. For the mid-range frequency (approx. 200 Hz to approx. 400 Hz) ensure that you do not excite any low-frequency oscillation. The higher the frequency of the oscillation (> approx. 400 Hz), the less negative will be the influence of high damping on the dynamics. Note For identical motors, the factors of the speed controller should be identical to ensure identical dynamic behavior. Test the tensioning torque: 8
With the integrated oscilloscope, record the nominal current (I nominal) of the master and the slave axes at standstill.
8
Send a step to the speed controller and, with the integral oscilloscope, record the nominal current of the master and slave axes.
8
If there is a discontinuity in the course of the nominal current, increase the tensioning torque for the slave axis in MP2900.x.
ΔInoml = Inoml master – Inoml
ΔInoml = Inoml master – Inoml
Discontinuity
Inoml slave
Inoml master
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Inoml master
Inoml slave
HEIDENHAIN Technical Manual iTNC 530
Note The lower the ratio of the total mass moment of inertia (transmission, machine table, etc.) to the motor mass moment of inertia, the smaller the required tensioning torque is (MP2900.x). Test the P factor of the torque controller:
Setting the masterslave torque control for torque distribution in a rigid design
September 2006
8
With the integrated oscilloscope, record the actual speed value V (N ACTL).
8
Increase the P factor in MP2910.x for the slave axis up to the oscillation limit.
8
Enter in MP2910.x for the slave axis 50% of the resulting value.
8
For the master and slave axes you must select in MP1040 the same or the opposite direction of rotation, depending on the application (MP210 has no effect on the slave).
8
Adjust the current controller for the master and slave axes. See “Commissioning” on page 6 – 317.
8
Enter the following temporary values in the machine parameters for the slave axis: MP2900.x = 0 MP2910.x = 3 MP2930.x = 0
8
In MP2920.x, enter the ratio of the mass moment of inertia of the master to the mass moment of inertia of the slave. For identical motors, therefore, the value to be entered is 1.
8
If you use a position encoder, enter 100 in MP2930.x for the slave axis; if you do not use a position encoder, enter the value 0.
8
Enter MP2510.x (I factor of speed controller) = 50 or, if you have one, an empirical value for your motor.
8
Deactivate the slave axis in MP10.
8
For the master axis, adjust the P and I factor of the speed controller. See “Commissioning” on page 6 – 317.
8
If you do not reach the desired rise time (approx. 10 ms), you can increase the P factor with the aid of a filter. Here the band-rejection filter is preferable to the low-pass filter.
8
To find the center frequency for the band-rejection filter, slowly increase the P factor to the oscillation limit and find the frequency with the integrated oscilloscope.
Synchronized Axes
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Note For low-frequency oscillations (< approx. 200 Hz) you should not use a filter, because it may have a negative influence on the dynamics of the control. For the mid-range frequency (approx. 200 Hz to approx. 400 Hz) ensure that you do not excite any low-frequency oscillation. The higher the frequency of the oscillation (> approx. 400 Hz), the less negative will be the influence of high damping on the dynamics. 8
Deactivate the master axis in MP10.
8
Set MP850.x and MP860.x to 0 for the slave axis.
8
Set the speed controller and the filter parameters for the slave axis in the same manner as for the master axis. Note For identical motors, the factors of the speed controller should be identical to ensure identical dynamic behavior.
Test the P factor of the torque controller: 8
In MP10 reactivate the master and slave axes.
8
With the integrated oscilloscope, record the actual speed value V (N ACTL).
8
Increase the P factor in MP2910.x for the slave axis up to the oscillation limit.
8
Enter in MP2910.x for the slave axis 50% of the resulting value.
MP2900.x Input: MP2910.x Input: MP2920.x Input: MP2930.x Input:
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Tensioning torque between master and slave for masterslave torque control (entry for the slave axis) –100.00 to +100.00 [Nm] P factor of the torque controller for master-slave torque control (entry for the slave axis) 0.00 to 999.99 [1/(Nm · min)] Factor for variable torque distribution for master-slave torque control (entry for the slave axis) 0.000 to 100.000 1: Master and slave axes have identical motors Speed compensation ratio for master-slave torque control (entry for the slave axis) –100.00 to +100.00 [%]
HEIDENHAIN Technical Manual iTNC 530
6.7 Reference Marks 6.7.1 Definition The position value (the coordinates) of an axis position is defined with respect to a freely selectable datum. When the axes are moved, the ACTUAL position is calculated incrementally. If there is an interruption in power, the reference between the axis position and the position value is lost. Reference marks
HEIDENHAIN linear encoders are designed with one or more reference marks. The reference marks identify an axis position at a known distance from the machine datum. The position of the freely selectable datum is defined with respect to the machine datum. The datum and the actual position can be reproduced as soon as the reference marks are traversed. HEIDENHAIN recommends position encoders with distance-coded reference marks. With distance-coded reference marks, the position value can be reestablished after traverse of a short distance over any two reference marks.
+Z REF value REF value –44.985 0 Workpiece datum 0
10 20 30 40 +X Workpiece
Machine table Position encoder Reference mark Machine datum
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Reference Marks
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6.7.2 Traversing the Reference Marks The reference marks must be traversed after any interruption in power: 8
Press the machine START button: The reference marks are automatically traversed. The sequence of axes is predetermined.
or: 8
Press the machine axis-direction button. The user determines the sequence of the axes.
After the reference marks have been traversed: The software limit switches are activated. The most recently saved datum and machine datum are reproduced. PLC positioning and positioning with M91 and M92 become possible. The counter is set to zero for axes in an open loop. Distance between the scale reference point and the machine datum
For position encoders with distance-coded reference marks, the machine datum is defined with respect to the scale reference point, which is at the first reference mark after the beginning of the measuring length. On angle encoders, the scale reference point is marked. 8
In MP960.x, enter the distance between the scale reference point and the machine datum.
For position encoders without distance-coded reference marks but with more than one reference mark, the distance between the reference mark to be traversed and the scale reference point must also be entered: 8
With Module 9225, enter the distance between the reference mark to be traversed and the scale reference point.
Module 9225 Compensation value for the reference mark With Module 9225 you define the distance between the reference mark to be traversed and the scale reference point for the NC and PLC axes. Call: PS
PS CM PL
B/W/D/K 0 to 8: Axes 1 to 9 15: Spindle B/W/D/K 0: Reference mark to be traversed = scale reference point 9225 B/W/D 1: Axis does not exist
Error recognition:
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Marker
Value
Meaning
M4203
0
No error
1
Axis does not exist
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Assigning a reference value
In some cases a new reference mark may have to be assigned to an axis, e.g. if an axis is mechanically fixed and the encoder is moved. Since due to the mechanical fixing the position of the axis cannot be changed, you can assign it a new reference value: 8
Enter the new reference value in Module 9147.
Module 9147 Assigning a reference value to an axis If a new reference value is assigned to an axis, the corresponding bit is reset in W1032. Call: PS PS CM
B/W/D/K 0 to 8: Axes 1 to 9 B/W/D/K 9147
Error recognition:
Defining the process of traversing the reference marks
External reference pulse
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Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
2
Invalid axis number
21
Missing strobe in M4176 = 1
24
Module was called in a spawn job or submit job
In machine parameters, you define the process of traversing the reference marks: 8
In MP1320.x and MP1330.x (for rotary encoders also in MP1331.x) you define the direction and velocity for traversing the reference marks.
8
In MP1340.x you define the sequence of axes for traversing the reference marks.
8
With MP1350.x you select the type of reference marks.
If it is not possible to use the reference mark of the encoder, for example due to an unsuitable transmission ratio between the motor and rotary axis, then you can use an external reference pulse: 8
In MP4130.x, define the fast PLC input for the external reference pulse
8
For the corresponding axis in MP1360.x, enter the number of the fast PLC input
8
Enter MP1350.x = 6 for the corresponding axis
Reference Marks
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“Pass Over Reference Point” mode of operation
The NC uses W272 to report the “Pass Over Reference Point” operating mode to the PLC. If you switch the operating mode before all reference marks are traversed, the PASS OVER REFERENCE soft key prompts you traverse the remaining reference marks. In W1032 the PLC receives the information as to which axes have not yet been referenced. In W1032, the bits for axes that are not to traverse the reference marks (MP1340.x = 0) remain set. In the NCMACRO.SYS file, after the code number RESETINIT= you can enter the name (incl. path) of a macro that will be called when the Pass Over Reference Point mode of operation is exited. If the NC macro is terminated once with END PGM or M02, it will no longer be run when the Pass Over Reference Point mode is called and exited. If M4622 is set during the first run of the PLC program, the message window Waiting for M4622 appears after the reference marks have been traversed. The window does not disappear until you have reset M4622. In this way, you can delay the execution of the NC macro defined through RESETINIT = in the NCMACRO.SYS. To synchronize the current machine status and the look-ahead calculation with an NC macro call, see “NCMACRO.SYS” on page 9 – 30.
Reference end position
To prevent the axes from violating their traverse limits when traversing the reference marks, each axis requires a trip dog (at the reference end position). The trip dogs must be installed by the machine tool builder at the ends of the traverse range. The switch signals from the trip dogs are sent to free PLC inputs. The PLC program must gate these PLC inputs with W1054 for “reference end position.” The axis will only automatically be positioned to the software limit switch if it is beyond the positive software limit switch and is moving in the positive direction to the positive trip dog. it is beyond the negative software limit switch and is moving in the negative direction to the negative trip dog.
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Encoders with EnDat interface
Encoders with EnDat interface can be connected to the position and speed inputs of the MC 42x(B) and CC 42x. With these encoders there is no need to traverse the reference marks. The position value is only read when the control is switched on. It cannot be read again. When connecting a position encoder with an EnDat interface: 8
Enter MP1350.x = 5.
When connecting a speed encoder with an EnDat interface: 8
The iTNC automatically attempts to communicate with the encoder.
When connecting a speed encoder with an EnDat interface as a position encoder: 8
Enter MP1350.x = 5.
8
In MP110.x, enter 0 for the axis with the speed encoder with EnDat interface. Note If use of multiturn encoders with EnDat interfaces results in overruns, the corresponding information is entered in the system file NCDATA.SYS. For a control exchange, this file must be transferred or MP960.x must be readjusted.
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Reference Marks
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Double reference run
During the double reference run, the absolute position is first output via the EnDat interface of the speed encoder. If at a later time the reference mark of the position encoder is traversed, the control continues to work with this reference. 8
Set the corresponding bits in MP1355 to 1 for the axes for which the double reference run is to be used.
The distance between the speed encoder and the position encoder must be entered in MP1356.x. When the reference mark of the position encoder is first traversed, the message Set MP1356. to appears. 8
Enter this value in MP1356.x.
Up to 340 422-04, 340 480-04: Depending on the position encoder being used, W1032 (reference marks not yet traversed) can have different meanings: Position encoder with distance-coded reference marks: After reading the absolute position via the EnDat interface, W1032 is reset for the affected axis. Position encoder without distance-coded reference marks: After reading the absolute position via the EnDat interface, W1032 remains set for the affected axis. As of 340 422-05, 340 480-05: 8
Define the behavior of W1032 in MP1357.x.
MP960.x Input:
Machine datum –1.79769313486E+308 to +1.79769313486E+308 [mm] or [°] Values with respect to the scale reference point
MP1320 Format: Input:
Direction for traversing the reference marks %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Positive 1: Negative
MP1330.x Input:
Velocity for traversing the reference marks 80 to 300 000 [mm/min]
MP1331.x
Velocity for leaving the reference mark end position for axes 1 to 9 (only for rotary encoders MP1350 = 2) 10 to 300 000 [mm/min]
Input: MP1340.x Input:
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Sequence for traversing the reference marks 0: No evaluation of reference marks 1 to 14: Axes 1 to 14
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MP1350.x Input:
Sequence for finding the reference mark 0: Linear encoder with distance-coded reference marks (old routine) 1: Position encoder with one reference mark 2: Special type (length measurement with ROD) 3: Linear encoder with distance-coded reference marks (new routine) 4: Same as 3 except that two reference marks are evaluated 5: Encoder with EnDat interface 6: Reference pulse over fast PLC input
MP1355 Format: Input:
Double reference run %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Reference run as defined in MP1350.x 1: Double reference run
MP1356.x
Distance between speed and position encoder for double reference run. –99 999.999 to +99 999.999 [mm] or [°]
Input: MP1357.x Input:
W1032 for double reference run 0: Reset W1032 if the reference run has been over the EnDat interface of the speed encoder 1: Reset W1032 if the reference mark was traversed with the position encoder
MP1360.x Input:
Fast PLC input for reference pulse 0: No fast PLC input for reference pulse 1 to 5: Fast PLC input for reference pulse (MP4130.x)
M4622 W1032 W1054
Renewed traversing of the reference marks
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Delay NC macro with RESETINIT = from NCMACRO.SYS Reference marks not yet traversed Bits 0 to 8 represent axes 1 to 9 Reference end position Bits 0 to 8 represent axes 1 to 9
Set
Reset
PLC
PLC
NC
NC
PLC
PLC
Module 9220 Renewed traversing of the reference marks With this module you start an NC or PLC axis or a servo-controlled spindle for traversing the reference mark. It is possible to repeat the reference mark traverse in an axis that has already been referenced. The module can be called in all operating modes. Software limit switches are not effective. The strobe marker must remain set for the entire duration of the reference-mark traverse.
Reference Marks
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Axis: The sequence of functions (MP1350.x) and the velocity for leaving the reference end position (MP1331.x) are defined by machine parameter. The velocity and the direction for traversing the reference marks are either taken from MP1330.x and MP1320.x or they are defined in the module. Note The direction of traverse should be defined in the module only in exceptional cases. Since the reference end position is not considered in this case, the limits of the traverse range may be violated. If an axis is started for reference point traverse although the reference mark has already been traversed, the corresponding bit is set in W1032 and the reference mark is traversed again. The same constraints apply as for traversing the reference mark the first time. An axis cannot be started for reference mark traverse until all axes are in position. Servo-controlled spindles: The speed for traversing the reference mark is defined in the module. The spindle must be started from a standstill to traverse the reference mark. If the spindle is started for reference mark traverse, marker M4018 is set. Call: PS
PS
PS
CM PL
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B/W/D/K 0 to 8: Axes 1 to 9 15: Spindle B/W/D/K 0: Feed rate MP1330.x >0: Feed rate in mm/min or shaft speed in 1/1000 rpm B/W/D/K –1: Negative direction 0: Direction from MP1320.x 1: Positive direction 9220 B/W/D 0: Reference mark traverse is commanded 1: Axis does not exist, or not a servo-controlled spindle 2: Inadmissible values for the feed rate / direction 4: Reference traverse not possible because reference traverse already started 5: Axis is already being positioned or the spindle is in motion 6: Other axis is already being positioned 8: Programmed axis not in closed loop
HEIDENHAIN Technical Manual iTNC 530
Position encoder with distancecoded reference marks
Function when MP1350.x = 3
Reference marks "Reference end postion" trip dog
closed open Traverse direction MP1320
Press the external START key
Trip dog "Reference end position" closed?
No
Yes
Machine traverse in direction from MP1320
Trip dog "Reference end position" is closed before two consecutive reference marks are passed over
Yes
Machine traverses in inverted direction from MP1320
No
Two successive reference marks are traversed
Is the machine outside the software limit switch range?
No
Yes
Machine moves to software limit switch
Machine stops
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Function when MP1350.x = 0. This setting is used only to ensure compatibility. Do not use for new installations.
Reference marks "Reference end postion" trip dog
closed open Traverse direction MP1320
Press external START key
No
Trip dog "Reference end position" closed?
Traverse direction from MP 1320
Yes
Invert traverse direction from MP1320
Pass over two consecutive reference marks
Is the machine outside the software limit switch range?
No
Yes
Machine moves to software limit switch range
Machine stops
If during automatic referencing the trip dog is not closed until it is in the reference end position range, the contouring control will ignore this signal. It is therefore necessary that there be at least two reference marks in the range of the reference end position. 6 – 154
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Position encoder with one reference mark
Function when MP1350.x = 1
Reference marks
Closed Open
Trip dog "Reference end position" Traverse direction MP1320
Press the external START key
No
Trip dog "Reference end position" closed?
Yes
Machine moves in direction from MP1320
Trip dog "Reference end position" is closed before two successive reference marks are traversed
Yes
Machine moves in inverted traverse direction from MP1320
No
Reference mark is passed over
Is the machine outside the software limit switch range?
No
Yes
Machine moves to software limit switch
Machine stops
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Reference Marks
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Linear measurement through rotary encoder
Function when MP1350.x = 2 For linear measurement using a rotary encoder, a reference pulse is produced at each revolution of the encoder. Ensure that during referencing the same reference pulse is always evaluated. This can be realized with the trip dog for reference end position. Measuring length
Reference pulse Desired reference pulse
Trip dog "Reference end position"
Closed Open Traverse direction MP1320
Press the external START key
No
Trip dog "Reference end position" closed?
Yes
Machine traverse in direction from MP1320 with velocity from MP1330.x to the trip dog "Reference end positon"
Machine traverse in inverted direction from MP1320 and with reduced velocity from MP1331.x The first reference pulse after opening of the trip dog "Reference end position" is evaluated
Is the machine outside the software limit switch range? No
Yes
Machine moves to software limit switch
Machine stops
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✎
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Reference Marks
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6.8 The Control Loop Machine tools normally function on the principle of cascade control. Here the position control loop is prior to the speed and current control loops. Benefits of cascade control: Transparent structure of the individual control loops. Disturbances can be compensated through the subsequent controllers. This relieves the prior controller. The respective outer control loop protects the inner control loop by limiting the command variable. Individual commissioning of each control loop, starting with the innermost loop. The position, speed, and current controllers, and the power module are integrated in the iTNC. The power module is driven by the CC 42x through PWM signals (PWM = pulse width modulation). The iTNC 530 controls machines with up to 11 axes and a spindle or up to 10 axes and 2 spindles. Spindle speeds up to 40 000 rpm for motors with two pole pairs are possible.
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The position controller cycle time is the time interval during which the interpolation points on the path are calculated. The speed controller cycle time is the time interval in which the actual speed value is compared to the calculated nominal speed value. The current controller cycle time is the time interval in which the actual current value is compared to the calculated nominal current value.
Position
Time
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The Control Loop
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6.8.1 Relation Between Jerk, Acceleration, Velocity and Distance To ensure proper operation of an axis, the following two conditions must be fulfilled: The desired maximum speed vmax and maximum jerk rmax result in a maximum acceleration amax. A minimum distance smin must be traversed in order to attain the maximum speed vmax. Maximum acceleration
Taking into account the motor and the power module, the machine should be specified in such a way that acceleration during the acceleration phase is as constant as possible. This ensures maximum utilization of the drive current.
Velocity v
Acceleration a
t Jerk r
On the other hand, the machine should also be designed to fulfill the dynamic requirements. The jerk should be kept to a minimum and the jerk phase should be maximized in order to prevent the machine from oscillating. The result is no constant acceleration, but a short acceleration peak. If the maximum velocity and the maximum permissible jerk of the machine are preset, the maximum attainable velocity can be determined.
Jerk r
Velocity v Acceleration a t
a max =
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v max ⋅ r max
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Minimum distance
To attain the maximum velocity, a minimum distance smin must be traversed. If the traversed distance is greater than smin, a movement with constant speed is inserted at the time 2Tr. The minimum distance is:
smin Distance s Jerk r vmax Velocity v
t Tr
2Tr
3Tr
4Tr Acceleration a
v max s min = 2 ⋅ v max ⋅ ----------r max Example
Rapid traverse vmax = 30 000 mm/min (= 0.5 m/s); MP1010.x = 30000 Max. jerk with velocity v > 20 000 mm/min (= 0.33 m/s) rmax1 = 70 m/s3; MP1090.1 = 70, MP1092 = 20000 Max. jerk rmax2 = 35 m/s3 during machining; MP1090.0 = 35 Maximum attainable acceleration amax1 during rapid traverse: a max1 =
v max ⋅ r max1 =
m m m 0.5 ------ ⋅ 70 ------3 = 5.92 ------2 s s s
Maximum attainable acceleration amax2 during machining (v up to 20 000 mm/ min): a max2 =
v max ⋅ r max2 =
m m m 0.33 ------ ⋅ 35 ------3 = 3.40 ------2 s s s
Distance smin required to attain rapid-traverse velocity:
s min
m 0.5 -----v max m s = 2 ⋅ v max ⋅ ------------ = 2 ⋅ 0.5 ------ ⋅ --------------- = 0.085 m = 85 mm s r max m 70 ------3s
Note The rectangular jerk curve is rounded through the use of a nominal position value filter (MP1096.x ≠ 0). As a result, acceleration is reduced and the minimum distance required for attaining the maximum velocity is increased.
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The Control Loop
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6.8.2 Interpolator Schematic of the Interpolator:
Axis 1
Axis x
Axis 1
MP1200 MP1201 MP1202.0 MP1202.1 MP1210 | MP1211 | MP1212 | MP1213 MP1222 MP1223
v
f
MP1230.0 | MP1231.0 | MP1232.0 | MP1233.0 MP1240.0 | MP1241.0 | MP1242.0 | MP1243.0
MP1060.x MP1090.x
t a
j
SNoml
SNoml s
t
s = S0+v·Dt
Axis 2
SNoml s
SNoml f
MP1230.1 | MP1231.1 | MP1232.1 | MP1233.1 MP1240.1 | MP1241.1 | MP1242.1 | MP1243.1
t Axis 3
SNoml
The interpolator calculates a velocity every 1.8 ms from the programmed feed rate. The value is also dependent on the acceleration curve and the end position. If more than one axis is moved simultaneously, the path acceleration apath is formed from the appropriate axis components. The same applies to rapid traverse in the path (see “Rapid traverse and feed rate limitation” on page 6 – 192).
apath aaxis 2
aaxis 1 If the inverter is not designed for such accelerations, you can limit the path acceleration: 8
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In MP1061, enter the maximum permissible path acceleration.
HEIDENHAIN Technical Manual iTNC 530
You must adjust the velocity feedforward value to the dynamics of the machine: 8
With MP1060.x you define the acceleration or the steepness of the velocity curve.
8
In MP1090.x, you limit the jerk for the Program run full sequence and Program run single block modes of operation. The jerk is the rate of change in acceleration. The greater the entered value, the more the system will tend to oscillate.
8
In MP1086.x, you limit the jerk for single-axis motions at rapid traverse in the Program run full sequence, Program run single block and Positioning with manual data input modes of operation.
8
Use MP1087.x to limit the axis-specific jerk in Manual mode.
8
Use MP1089.x to limit the axis-specific jerk in the Pass Over Reference Point mode of operation. This is necessary if you want to brake or accelerate faster in this operating mode than in other operating modes.
Please note: D Jerk v At high feed rates (e.g. rapid traverse) a higher jerk is permitted than at low feed rates: 8
Enter the jerk for low feed rates in MP1090.0, and for high feed rates in MP1090.1. MP1090.x is the jerk on the tool path. The input value is determined by the weakest axis.
8
In MP1092, define a machining feed rate beginning at which MP1090.1 becomes effective.
A nominal position value is acquired every 1.8 ms from the calculated velocity. For linear interpolation: s = so + v ⋅ Δt s = nominal position value so = previous nominal position value v = calculated velocity Δt = cycle time The nominal position value is resolved into the individual axis components, depending on which axes have been programmed.
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It may happen that the axes at first move past the target position and then oscillate onto it. This overshoot behavior during acceleration and braking can be influenced by a time constant: 8
In MP1521, define the time constant for the overshoot behavior.
Input value correct Input value too small Input value too large
MP1521
Acceleration (MP1060.x)
MP1060.x Input:
Acceleration 0.001 to 100.000 [m/s2 or 1000°/s2]
MP1061 Input:
Limitation of the path acceleration 0.001 to 100.000 [m/s2 or 1000°/s2]
MP1086.x
Maximum permissible jerk during single-axis movements at rapid traverse for the operating modes Program Run Full Sequence, Program Run Single Block, and Positioning with Manual Data Input 0: Function inactive 0.1 to 1000.0 [m/s3 or 1000°/s3]
Input: MP1087.x Input:
Maximum permissible axis-specific jerk for Manual mode 0.1 to 1000.0 [m/s3 or 1000°/s3]
MP1089.x Input:
Maximum permissible axis-specific jerk for Pass Over Reference Point mode 0.1 to 1000.0 [m/s3 or 1000°/s3]
MP1090 Input: MP1090.0 MP1090.1
Maximum permissible jerk on the tool path 0.1 to 1000.0 [m/s3 or 1000°/s3] With machining feed rate Beginning with feed rate from MP1092
MP1092
Feed rate threshold from which MP1090.1 becomes effective 10 to 300 000 [mm/min]
Input: MP1521 Input:
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Transient response during acceleration and deceleration 1 to 255 [ms] 0: Function inactive
HEIDENHAIN Technical Manual iTNC 530
Feed-rate smoothing with MP1522
In addition to the nominal position value filters, you can activate feed-rate smoothing. This smoothes jerks caused by a change in the feed rate. This reduces the machine’s tendency to vibrate, without significantly increasing the machining time. An effective possibility for use is with machine oscillations under approx. 25 Hz. The advantage is that the feed-rate smoothing with MP1522 can dampen the oscillation behavior complementary to the nominal position value filters, which makes it possible to raise the limits of the nominal position value filters again. This could result in shorter workpiece machining times. It is principally recommended that the frequencies of the nominal position value filters be set in dependency of the feed-rate smoothing. The following calculation can be used to find the damping achieved by MP1522: Limit frequency (f) of the feed-rate smoothing 1 fg ( 6dB ) = --3
1000 × --------------------------MP1522
1 fg ( 12dB ) = --2
1000 × --------------------------MP1522
Feed-rate smoothing (MP1522) with known oscillation frequency 1 MP1522 ( 6dB ) = --3
--------------× 1000 f
1 MP1522 ( 12dB ) = --2
--------------× 1000 f
8
In MP1522, define the time constant according to the formula above for the feed-rate smoothing.
8
Begin the adjustment with a smoothing of the feed rate in the 6-dB range, and increase the value step by step.
8
Check the following error with a suitable NC program (e.g. feedforward adjustment program in TNCopt) until it reaches a minimal value.
Typical input value: MP1522 = approx. 0.33 ... 0.5 ⋅ TMachine (TMachine = Period of the machine resonance frequency) Example: fMachine = 50 Hz; TMachine = (1 / 20 Hz) = 50 ms; MP1522 = 0.5 x 50 ms = 25 ms (input value = 25) Note There can be an increase in the following error at corners or contour transitions (change of direction) of an axis. Therefore, do not choose too large a value for MP1522, and only use feed-rate smoothing in combination with the nominal position value filters. MP1522 Input:
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Feed-rate smoothing 0 to 60 [ms] 0: Function inactive
The Control Loop
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Nominal position value filter
To attain a high machining velocity, the workpiece contour can be adapted to the machine dynamics by means of a nominal position value filter. 4 low-pass filters are available for limiting the bandwidth of the dynamics of nominal position and speed values. Single filter Double filter HSC filter • with Cycle 32 – mode 0 (HSC finishing filter) • with Cycle 32 – mode 1 (HSC roughing filter) Advanced HSC filter • with Cycle 32 – mode 0 (HSC finishing filter) • with Cycle 32 – mode 1 (HSC roughing filter) Single and double filter Single and double filters are classic low-pass filters that always smooth a contour towards the inside at changes in direction. They can be used when a very high surface quality is required, or when a high machining speed is required and larger tolerances are permitted. Compared to the double filter, the single filter permits a higher machining speed with a surface quality that is almost always comparable. Depending on the cycle time, tolerance and axis-jerk limit values, the control automatically increases the filter frequency actually used (previously: filter order). HSC filter and advanced HSC filter The speed advantage of both HSC filters is especially large for circular contours. However, you must consider slight overshoots at corners and curvature transitions that are within the given tolerances (MP1202.x or Cycle 32). In general it is recommended that the advanced HSC filter be applied first. It has a more even effect on the speed and any possible overshoots.
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The figure below gives a rough overview of when to use the nominal position value filters.
The nominal position value filters (MP1200) function in all operating modes (even in rapid traverse). For RIGID TAPPING (Cycle 17), the nominal position value filter is automatically switched off. If the machine dynamics are adapted via a nominal position value filter, the iTNC always maintains the tolerance • from MP1202.0 (at the machining feed rate) • from MP1202.1 (at rapid traverse) • from the tolerance given in Cycle 32 – mode 0 (HSC finishing filter) • from the tolerance given in Cycle 32 – mode 1 (HSC roughing filter). Here the limit frequency is automatically lowered so that faster machining results for larger tolerances. the axis-specific jerk at corners (MP1230.x, MP1231.x, MP1232.x and MP1233.x, MP1250.x factor from MP123x.x for rapid traverse) depending on the filter type used the axis-specific jerk at curvature changes (MP1240.x, MP1241.x, MP1242.x and MP1243.x) depending on the filter type used the axis-specific acceleration (MP1060.x) the path acceleration (MP1061) the radial acceleration (MP1070.x) the tolerance at curvature changes. The tolerance consideration at curvature changes can be switched off with MP1222 for HSC filters and MP1224 for advanced HSC filters, which in most cases fully suffices for the accuracy, and has shown in the past that a significantly higher surface quality is achieved. These machine parameters are typically only used in combination with the HSC filter at resonant frequencies under 25 Hz when a high accuracy is required.
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The Control Loop
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Selection criteria and settings for the nominal position value filters
The settings for the nominal position value filters mainly depend on the emphasis of the requirements for machining the workpiece. Speed and accuracy, in connection with clean and smooth surfaces, are the decisive criteria. At the same time, the oscillation and resonance tendencies of the machining system (the machine tool) are to be considered, and taken into account in the settings for the nominal position value filters. The following recommendations can be made for the settings: Clean surface Definition of the term “surface”: A clean and smooth surface has the highest priority Application: Finishing Oscillations in the axes must be damped, since following errors of 1 µm are still visible on the surface Tolerances are typically between 0.01 and 0.02 mm (may be slightly exceeded in order to achieve a better surface) Settings guidelines for “surface”: Preferential use of the advanced HSC filter (or single filter) Use M124 for a faulty NC program (from CAD system) Low jerk values in MP1090.0, MP123x.x Switch off tolerance consideration for curvature changes, MP1222 and MP1223 = 0. High jerk values for MP124x so that no limitations take effect (example: test MP124x.x up to a value of 100) Radial acceleration MP1070 maximum values between 1 and 3 [m/s2] Accuracy Definition of the term “accuracy”: Maintenance of the tolerances has the highest priority Slight oscillations can be seen on the surface Tolerances typically between 0.005 and 0.01 mm Settings guidelines for “accuracy”: Preferential use of HSC filter (MP1200 = 2) (with limit frequencies greater than 30 Hz) Lower jerk values in MP1090.0, MP1090.1, MP123x.x, MP124x.x than for “speed” Low radial acceleration values with MP1070 (typical values are < 1.5 m/s²). Ideally, circular paths should be checked with a KGM grid encoder from HEIDENHAIN. However, in many cases the circular interpolation test with the integrated oscilloscope or TNCopt suffices. MP122x = 1 (consideration of tolerance limits at curvature changes) The adjustment should be tested with suitable NC programs. The TNCopt software from HEIDENHAIN features the “Contour-Single.h” NC program for this. The advantage is that the speed and the contour deviations can be seen directly.
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Speed Definition of the term “speed”: Surface quality is secondary; short machining times have the highest priority Application: Roughing Tolerances typically between 0.1 and 0.2 mm Settings guidelines for “speed”: Filter selection • For large tolerances (greater than 50 µm), preferential use of single filters (MP1200 = 0) • For small tolerances (less than 30 µm), preferential use of HSC filters (MP1200 = 2). Setting for MP1222 = 0. High jerk values in MP1090.0, MP1090.1 High jerk values in MP123x.x, MP124x.x (typical: factor 3 to 5 of the path jerk) High radial acceleration via MP1070 (input value should not exceed the values for linear axes from MP1060.x, maximum 5 [m/s2]) Use M124 for a faulty NC program (from CAD system) When using the HSC filter: Program a high tolerance for rotary axes and roughing filters (mode 1) via Cycle 32. Typical values for the rotary-axis tolerances are around 0.01° to 5°. This can achieve significant speed advantages. However, possible undercuts must be taken into account. The adjustment should be tested with suitable NC programs. The TNCopt software from HEIDENHAIN features the “Contour-Single.h” NC program for this. The advantage is that the speed and the contour deviations can be seen directly. When setting the jerk and acceleration values, as well as selecting the suitable filters, take into account • the running noised of the machine • the mechanical load (wear) • the desired machining speed. Setting the nominal position value filter as of SW 340 490-01
8
Enter the permissible axis-specific jerk: • For single filter: MP1230.x (at corners), MP1240.x (at curvature changes, e.g. tangential transition from a line to an arc) • For double filter: MP1231.x (at corners), MP1241.x (at curvature changes) • For HSC filter: MP1232.x (at corners), MP1242.x (at curvature changes) • For advanced HSC filter: MP1233.x (at corners), MP1243.x (at curvature changes) • For rapid traverse at corners in MP1250.x: Here a factor of the value from the corresponding MP123x.x is entered. At transitions between rapid traverse motions, the jerk set in MP123x.x multiplied by this factor is active.
September 2006
8
In MP1202.0, define a tolerance for contour transitions with motions at the machining feed rate. This tolerance can be overwritten by the machine user with Cycle 32 “Tolerance.”
8
In MP1202.1, define a tolerance for contour transitions with motions at rapid traverse. This tolerance can not be overwritten by the machine user with Cycle 32 “Tolerance.”
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8
When selecting the limit frequencies for single filters (MP1210), double filters (MP1211), HSC filters (MP1212) and advanced HSC filters (MP1213), take into account the lowest resonant frequency of your machine’s axes and the desired damping at this frequency. If the limit frequency is set to 0, the filter is switched off. Note The tolerance (MP1202.x, Cycle 32) always refers to the nominal value, meaning the servo lag also affects the contour accuracy. For example, if the servo lag S = 5 µm and the tolerance T = 10 µm, then the total deviation is 15 µm.
Tips for setting the nominal position value filter
8
With MP1200, select from the single, double, HSC and advanced HSC filters the nominal position value filters for the Program Run, Single Block, Program Run, Full Sequence and Positioning with Manual Data Input operating modes.
8
With MP1201, select the nominal position value filters for the Manual, Handwheel, Jog Increment and Pass Over Reference Point operating modes. Single and double filters are available here.
8
With MP1222 and MP1223 you specify whether the tolerance from MP1202 or Cycle 32 is also considered for curvature changes. MP1222 affects the HSC filter, and MP1223 affects the advanced HSC filter.
8
In order to achieve the optimum results for your machine or application, test the various filter settings with a test part consisting of short, straight paths.
HSC filter (MP1212) The HSC filter can be used to limit the bandwidth of the nominal command value. The corresponding limit frequency is entered in MP1212 for this. If the HSC filter is used with limit frequencies less than 30 Hz, then ensure that the path jerk (MP1090) in dependency of the limit frequency is not set to too large a value. Otherwise, overshoots at the corners could exceed the prescribed tolerances. Independently of this, MP1090 should always be set in a manner such that the following error does not become too large during the jerk phase. In order to maintain the accuracy at HSC frequencies under 30 Hz, the following tables should also be considered: Controller: CC 424 Frequency to be damped [Hz]
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MP1212
10
12.5
15
17.5
20
22.5
25
27.5
Max. path jerk for tolerance = 5 µm
18
18
18
18
23
45
90
150
Max. path jerk for tolerance = 10 µm
30
36
36
36
45
100
150
–
Max. path jerk for tolerance = 20 µm
45
45
64
68
90
180
–
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HEIDENHAIN Technical Manual iTNC 530
Controller: CC 422 Frequency to be damped [Hz] MP1212
15
17.5
20
22.5
25
27.5
30
27.5
Max. path jerk for tolerance = 5 µm
45
45
60
68
80
80
80
96
If the HSC filter does not need to be used to limit the bandwidth, very brief machining times can be achieved by setting high limit frequencies with high jerk values. Of course, requirements for this are increased jerk (MP1232.x, MP1242.x, MP1250.x) and acceleration values (MP1060, MP1070), since starting at certain limit frequencies, the jerk and acceleration values increasingly limit the feed rate. The machining time is briefest at a certain value in MP1212. The following rule of thumb is used to find the optimum value: MP1212 = 23 + MP1232 *0.2 (however, MP1212 should be ≥ 30) If the tolerance is increased, the optimum value for MP1212 is shifted to smaller frequencies. List of the nominal position value filters
The settings for the nominal position value filters are listed below by the MP number. MP1200 Input:
Nominal position value filter 0: Single filter 1: Double filter 2: HSC filter 3: Advanced HSC filter
MP1201
Nominal position value filter in the Manual, Handwheel, Jog Increment, and Pass Over Reference Point operating modes 0: Single filter 1: Double filter
Input:
September 2006
MP1202 Input:
Predefined tolerance for Cycle 32 0.0000 to 3.0000 [mm]
MP1202.0 MP1202.1
Tolerance at corners for movements at machining feed rate Tolerance at corners for movements at rapid traverse
MP1210 Input:
Limit frequency for single filter 0.0 to 166.0 [Hz]
MP1211 Input:
Limit frequency for double filter 0.0 to 166.0 [Hz]
MP1212 Input:
Limit frequency for HSC filter 0.0 to 166.0 [Hz]
MP1213 Input:
Limit frequency for advanced HSC filter 0.0 to 166.0 [Hz]
MP1222 Input:
Tolerance at curvature changes with HSC filter (only effective if MP7640 bit 4 = 0) 0: Do not include the tolerance 1: Include the tolerance
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MP1223 Input:
Tolerance at curvature changes with advanced HSC-filter (only effective if MP7640 bit 4 = 0) 0: Do not include the tolerance 1: Include the tolerance
MP1230.x
Max. permissible axis-specific jerk at corners for single filter 0.1 to 1000.0 [m/s3]
Input: MP1231.x Input:
Max. permissible axis-specific jerk at corners for double filter 0.1 to 1000.0 [m/s3]
MP1232.x Input:
Max. permissible axis-specific jerk at corners for HSC-filter 0.1 to 1000.0 [m/s3]
MP1233.x
Max. permissible axis-specific jerk at corners for advanced HSC filter 0.1 to 1000.0 [m/s3]
Input: MP1240.x Input: MP1241.x Input: MP1242.x Input: MP1243.x Input: MP1250.x Input:
Max. permissible axis-specific jerk at curvature changes for single filter 0.1 to 1000.0 [m/s3] Max. permissible axis-specific jerk at curvature changes for double filter 0.1 to 1000.0 [m/s3] Max. permissible axis-specific jerk at curvature changes for HSC filter 0.1 to 1000.0 [m/s3] Max. permissible axis-specific jerk at curvature changes for advanced HSC filter 0.1 to 1000.0 [m/s3] Max. permissible axis-specific jerk at curvature changes for advanced HSC filter 0.1 to 1000.0 [m/s3]
The MP7684 described below should not be used as of software 340 490-xx, and is only listed due to historical reasons. The function for adjusting the nominal position value filters is to be achieved via the MP12xx machine parameters.
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MP7684 Format: Input:
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Nominal position value filter (bit 0 to bit 4) and path control with M128 or TCPM (bit 5 to bit 7 permitted) %xxxxxxxx Bit 0 - Nominal position value filter 0: Include acceleration 1: Do not include the acceleration Bit 1 – Nominal position value filter 0: Include the jerk at corners 1: Do not include the jerk at corners Bit 2 – Nominal position value filter 0: Include the tolerance 1: Do not include the tolerance Bit 3 – Nominal position value filter 0: Include the radial acceleration 1: Do not include the radial acceleration Bit 4 – Nominal position value filter (only in connection with M114; has priority over MP1222 and MP1223) 0: Jerk and tolerance limits at changes in the curvature are included 1: Jerk and tolerance limits at changes in the curvature are not included
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Compatibility with 340 422-xx:
HEIDENHAIN generally recommends using the MP12xx machine parameters for the nominal position value filters. The following table is intended as an aid in this transition. Comparison of the machine parameters
MP MP Function 340 490-xx 340 422-xx
Possible input value
1200
0 = Single filter 1 = Double filter 2 = HSC filter 3 = Advanced HSC filter
Selection of the filter type
1201
1095.1
Nominal position value filter in manual 0 = Single filter operation 1 = Double filter
1202.0 1202.1
1096.0 1096.1
Tolerance for contour transitions at corners With machining feed rate With rapid traverse
0.0000 to 3.0000 [mm] 0.0000 to 3.0000 [mm]
1210
1099.0
Limit frequency for single filter
0.0 to 166.0 [Hz]
1211
1099.1
Limit frequency for double filter
0.0 to 166.0 [Hz]
1212
1094
Limit frequency for HSC filter
0.0 to 166.0 [Hz]
1213
Limit frequency for advanced HSC filter
0.0 to 166.0 [Hz]
1222
HSC filter: Tolerance for curvature changes
0 = Do not include the tolerance 1 = Include the tolerance
1223
Advanced HSC filter: Tolerance for curvature changes
0 = Do not include the tolerance 1 = Include the tolerance
1230.x
1097.x
Max. permissible axis-specific jerk for 0.1 to 1000.0 [m/s3] single filter
1231.x
1098.x
Max. permissible axis-specific jerk for 0.1 to 1000.0 [m/s3] double filter
1232.x
1098.x
Max. permissible axis-specific jerk for 0.1 to 1000.0 [m/s3] HSC filter Max. permissible axis-specific jerk for 0.1 to 1000.0 [m/s3] advanced HSC filter
1233.x 1240.x
1097.x
Max. permissible axis-specific jerk at curvature changes for single filter
0.1 to 1000.0 [m/s3]
1241.x
1098.x
Max. permissible axis-specific jerk at curvature changes for double filter
0.1 to 1000.0 [m/s3]
1242.x
1097.x
Max. permissible axis-specific jerk at curvature changes for HSC-filter
0.1 to 1000.0 [m/s3]
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MP MP Function 340 490-xx 340 422-xx
Possible input value
1243.x
Max. permissible axis-specific jerk at curvature changes for advanced HSC filter
0.1 to 1000.0 [m/s3]
1250.x
Factor for axis-specific jerk at corners 0.0000 to 30.0000 at rapid traverse (from value in MP123x.x)
1262
Filter order used for HSC filters 15 to 31 (only useful if LIFTOFF is used during powerfail with CC 424)
1263
Filter order used for advanced HSC 15 to 31 filters (only useful if LIFTOFF is used during powerfail with CC 424)
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Matching of the filter order to limit frequencies In software versions up to 340 422-xx, the limit frequencies of single and double filters were set via the filter order. The following table gives an overview of how the filter orders match the limit frequencies. Note Please note that the values of the following conversion table were calculated for use of a CC 422 controller unit with a position controller cycle time of 1.8 ms (MP7600 = 3; recommended value). If your setting for MP7600 deviates from the recommended value, please contact HEIDENHAIN or re-adjust the nominal position value filter. The values in the table are only to be used as guidelines. The path behavior must always be checked.
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Filter order
Single filter
1 2 3
CC 422 (MP7600.0 = 3)
Double filter CC 424
CC 422 (MP7600.0 = 3)
CC 424
Hz
Hz
Hz
Hz
Over 136
Over 82
Over 98
Over 59
88 - 135
53 - 81
63 - 97
38 - 58
65 - 87
39 - 52
47 - 62
28 - 37
4
51 - 64
31 - 38
37 - 46
23 - 27
5
42 - 50
26 - 30
31 - 36
19 - 22
6
36 - 42
22 - 25
26 - 30
16 - 18
7
32 - 35
19 - 21
23 - 25
14 - 15
8
28 - 31
17 - 18
21 - 22
13
9
25 - 27
15 - 16
18 - 20
11
10
23 - 24
14
17
10
11
21 - 22
13
15 - 16
9
12
20
12
14
9
13
18 - 19
11
13
8
14
17
10
12
8
15
16
10
12
7
16
15
9
11
7
17
14
9
10
6
18
14
8
10
6
19
13
8
9
6
20
12
8
9
6
21
12
7
9
5
HEIDENHAIN Technical Manual iTNC 530
Setting the nominal position value filter as of SW 340 422-12 Note As of NC software 340 490-xx, t the nominal position value filters were restructured, expanded and set to MP12xx. The following description of the nominal position value filters only applies if you are using NC software 340 422-xx, or if the entry MPMODE=340422 was saved in OEM.SYS. To attain a high machining velocity, the workpiece contour can be adapted to the machine dynamics by means of a nominal position value filter. Here the iTNC always complies with the tolerance (MP1096.x, Cycle 32), the axisspecific jerk (MP1097.x, MP1098.x), the acceleration (MP1060.x) and the radial acceleration (MP1070.x). The iTNC calculates the filter parameters automatically. For test purposes, you can deactivate some of the parameters in MP7684 bits 0 to 4 for the calculation. 8
Enter the permissible axis-specific jerk: • For single filter: MP1097.x (at corners) • For double filter: MP1098.x (at corners) • For HSC filter: MP1098.x (at corners), MP1097.x (at curvature changes, e.g. tangential transition from a line to an arc)
8
In MP1096.0, define a tolerance for contour transitions with motions at the machining feed rate. This tolerance can be overwritten by the machine user with Cycle 32 “Tolerance.”
8
In MP1096.1, define a tolerance for contour transitions with motions at rapid traverse. This tolerance can not be overwritten by the machine user with Cycle 32 “Tolerance.”
8
Select from the following tables the input values for MP1099.x or MP1094. Note the lowest resonance frequency of your machine axes and the desired damping at this frequency. Note The tolerance (MP1096.x, Cycle 32) always refers to the nominal value, meaning the servo lag also affects the contour accuracy. For example, if the servo lag S = 5 µm and the tolerance T = 10 µm, then the total deviation is 15 µm.
September 2006
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6 – 177
Note In order to achieve the same behavior with the single and double filters as with the TNC 426/TNC 430, you must convert the values for the minimal filter order (MP1099.x):
FO iTNC 530
( FO TNC 426/TNC 430 + 1 ) ⋅ t TNC 426/TNC 430 -–1 = -------------------------------------------------------------------------------t iTNC 530
FOTNC 426/TNC 430: Minimal filter order TNC 426/TNC 430 (MP1099.x) FOiTNC 530: Minimal filter order iTNC 530 (MP1099.x) tTNC 426/TNC 430: Position controller cycle time TNC 426/TNC 430 tiTNC 530: Position controller cycle time iTNC 530
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Single filter (MP1099.0) with 1.8 ms position controller cycle time Damping [dB]
Frequency to be damped [Hz] 5
7.5
10
12.5
15
20
25
30
35
40
50
60
3
–
–
17
14
11
8
6
5
5
4
3
3
6
–
–
–
19
16
12
9
7
6
5
4
4
9
–
–
–
–
19
14
11
9
8
7
5
4
12
–
–
–
–
–
16
13
10
9
8
6
5
15
–
–
–
–
–
18
14
11
10
8
7
6
Single filter (MP1099.0) with 3 ms position controller cycle time Damping [dB]
Frequency to be damped [Hz] 5
7.5
10
12.5
15
20
25
30
35
40
50
60
3
21
14
10
8
7
5
4
3
3
2
2
1
6
–
19
14
11
9
7
5
4
4
3
3
2
9
–
–
17
14
11
8
7
5
5
4
3
3
12
–
–
19
15
13
10
8
6
5
5
4
3
15
–
–
–
17
14
10
8
7
6
5
4
3
30
35
40
50
60
Double filter (MP1099.1) with 1.8 ms position controller cycle time Damping [dB]
Frequency to be damped [Hz] 5
7.5
10
12.5
15
20
25
3
–
16
12
9
8
6
5
4
3
3
2
2
6
–
–
17
13
11
8
7
5
5
4
3
3
9
–
–
21
16
14
10
8
7
6
5
4
3
12
–
–
–
19
16
12
9
8
7
6
4
4
15
–
–
–
21
18
13
10
9
7
6
5
4
Double filter (MP1099.1) with 3 ms position controller cycle time Damping [dB]
Frequency to be damped [Hz] 5
7.5
10
12.5
15
20
25
30
35
40
50
60
3
14
10
7
6
5
3
3
2
2
2
1
1
6
21
13
10
8
7
5
4
3
3
2
2
1
9
–
16
12
10
8
6
5
4
3
3
2
2
12
–
19
14
11
9
7
5
4
4
3
3
2
15
–
21
16
12
10
8
6
5
4
4
3
2
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HSC filter (MP1094) with 1.8 ms position controller cycle time Damping [dB]
Frequency to be damped [Hz] 10
12.5
15
17.5
20
25
30
35
40
45
50
60
3
11
12
15
18
24
28
36
41
46
51
56
66
6
–
11
12
14
18
25
29
35
40
45
50
60
9
–
–
11
12
16
22
27
32
36
41
46
56
12
–
–
–
11
14
20
24
27
30
38
42
52
15
–
–
–
–
12
19
23
25
28
35
40
50
HSC filter (MP1094) with 3 ms position controller cycle time Damping [dB]
Frequency to be damped [Hz] 10
12.5
15
17.5
20
25
30
35
40
45
50
60
3
10
15
18
21
23
28
33
38
43
48
53
62
6
8
11
15
17.5
20
25
30
35
40
45
50
60
9
–
10
13
16
17
22
27
32
37
42
47
57
12
–
9
12
14
16
20
25
30
35
40
45
50
15
–
8
11
13
15
19
24
29
34
39
44
49
8
With MP1095.x you select the single or double filter. The HSC filter is switched on with MP1094. MP1095.1 is effective in the Manual, Handwheel, Incremental Jog Positioning and Reference Mark Traverse modes. MP1095.0 and MP1094 are effective in the Program Run, Single Block, Program Run, Full Sequence and MDI operating modes. If MP1094 is used, MP1095.0 is without effect. Example: Set the double filter in the Program Run modes for a smooth traverse (MP1095.0 = 1), or set the single filter in the Manual mode for a shorter deceleration path (MP1095.1 = 0).
8
Test the three filter settings using a test part made of short line segments. • Single filter • Double filter • HSC filter
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Note If you have selected the best nominal position value filter for your application, please note that your input value from MP1096.0 can be overwritten by the machine user through Cycle 32. If you have switched off the nominal position value filter (MP1096.x = 0), the machine user can also switch it on using Cycle 32. MP1096.x is evaluated for each program selection, since the tolerance can be overwritten by Cycle 32. The overwriting of MP1096.x by an MP subfile is therefore without effect if a tolerance was programmed via Cycle 32 in an NC program. The nominal position value filters function in all operating modes (even in rapid traverse). For RIGID TAPPING (Cycle 17), the nominal position value filter is automatically switched off. Machine parameters
Single filter
Double filter
HSC filter
HSC filter MP1094
MP1094 = 0
MP1094 = 0
MP1094 = Cutoff frequency
Single/double filter MP1095.x
MP1095.x = 0
MP1095.x = 1
MP1095.0 = Nonfunctional MP1095.1 = 0 or 1
Tolerance for contour transitions MP1096.x
MP1096.x = Tolerance (Cycle 32)
Axis-specific jerk for single MP1097.x = Jerk MP1097.x = filter MP1097.x (at corners) Nonfunctional
MP1097.x = Jerk (at curvature changes)
Axis-specific jerk for double filter MP1098.x
MP1098.x = Nonfunctional
MP1098.x = Jerk (at corners)
Minimum filter configuration MP1099.x
MP1099.0 = Filter MP1099.1 = Filter order MP1099.x = Nonfunctional order
MP1094 Input:
HSC filter 0: HSC filter inactive 0.1 to 166.0: Cutoff frequency for HSC filter
MP1095 Input:
Nominal position value filter 0: Single filter 1: Double filter In the Program Run Full Sequence, Program Run Single Block, and Positioning With Manual Data Input operating modes In the Manual, Handwheel, Jog Increment and Pass Over Reference Point operating modes
MP1095.0 MP1095.1
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MP1098.x = Jerk (at corners)
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MP1096 Input: MP1096.0 MP1096.1
Tolerance for contour transitions at corners 0: No nominal position value filter 0.001 to 3.000 [mm] With machining feed rate With rapid traverse
MP1097.x Input:
Maximum permissible axis-specific jerk (single/HSC filter) 0.1 to 1000.0 [m/s3 or 1000°/s3]
MP1098.x Input:
Maximum permissible axis-specific jerk (double/HSC filter) 0.1 to 1000.0 [m/s3 or 1000°/s3]
MP1099 Input: MP1099.0 MP1099.1
Minimum filter order 0 to 20 Minimum filter configuration for single filter (MP1095 = 0) Minimum filter configuration for double filter (MP1095 = 1)
MP7684
Nominal position value filter (bit 0 to bit 4) and path control with M128 or TCPM (bit 5 to bit 7 permitted) %xxxxxxxx Bit 0 - Nominal position value filter 0: Include acceleration 1: Do not include the acceleration Bit 1 – Nominal position value filter 0: Include the jerk 1: Do not include the jerk Bit 2 – Nominal position value filter 0: Include the tolerance 1: Do not include the tolerance Bit 3 – Nominal position value filter 0: Include the radial acceleration 1: Do not include the radial acceleration Bit 4 – Nominal position value filter (only in connection with M114; has priority over MP1222 and MP1223) 0: Jerk and tolerance limits at changes in the curvature are included 1: Jerk and tolerance limits at changes in the curvature are not included
Format: Input:
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Feed-rate smoothing (do not use any longer)
Fluctuations in feed rate sometime occur during execution of NC programs consisting of short straight-line segments. MP7620 bit 6 smoothes the feed rate. However, it also reduces it somewhat. MP7620 Input:
Tolerance consideration with M128 or TCPM
Feed-rate override and spindle speed override Bit 6 – Feed-rate smoothing 0: Not active 1: Active
When working with M128 or TCPM, movements in the rotary axes necessitate compensating movements in the main axes. Since rotary axes mostly do not have the same dynamics that linear axes have, machining is slower when rotary axes are involved. During program run with M128 or TCPM, the head dimensions are also included in the tolerance consideration (MP1202.x, Cycle 32). A higher tolerance is usually permissible for rotary axes, since this does not affect the accuracy (when using a spherical cutter). This higher tolerance leads to shorter positioning times of the rotary axes and the better surfaces: 8
Under TA in Cycle 32, program a separate tolerance for rotary axes.
Because of this tolerance, a separate nominal position value filter is used for rotary axes.
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✎
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HEIDENHAIN Technical Manual iTNC 530
6.8.3 Position Controller Position controller cycle time
With MP7600.0 you can set the position controller cycle time. 8
In MP7600.0, enter a factor which, when multiplied by 0.6 ms, results in the position controller cycle time.
With the input value MP7600.0 = 3, the iTNC has a minimum position controller cycle time of 1.8 ms. The increase of the position controller cycle time also increases the PLC cycle time. To return to the previous PLC cycle time, enter the corresponding factor in MP7600.1. For entries which lead to a PLC cycle time < 10 ms, the PLC cycle time is limited to 10 ms. MP7600.0 Input:
MP7600.1 Input:
Only CC 422: Position controller cycle time = MP7600.0 · 0.6 ms 1 to 20 Proposed input value: 3 (= 1.8 ms) Proposed input value for basic version: 6 (= 3.6 ms) Only CC 422: PLC cycle time = Position controller cycle time · MP7600.1 1 to 20 Proposed input value: 6 (= 10.8 ms) Proposed input value for basic version: 3 (= 10.8 ms)
You can choose between two types of feedback control: Feedback control with following error (servo lag) Feedback control with velocity feedforward 8
Select the type of control in the Positioning with manual data input, Program run, single block and Program run, full sequence operating modes with MP1392.
8
Select the type of control in the Manual and Handwheel modes of operation with MP1391. Note The machine must always be adjusted for both types of control.
MP1392
Format: Input:
Velocity feedforward in the POSITIONING WITH MANUAL DATA INPUT, PROGRAM RUN SINGLE BLOCK and PROGRAM RUN FULL SEQUENCE operating modes %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Operation with following error (lag) 1: Operation with velocity feedforward control
Note M90 (lag mode: Constant contouring speed at corners) is effective only if operation with following error is selected for all axes (MP1392 = %00000000000000).
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MP1391.0 Format: Input:
MP1391.1 Format: Input:
Feedback control with following error
Velocity feedforward control in the MANUAL and HANDWHEEL operating modes %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Inactive 1: Active Acceleration feedforward control in the MANUAL and HANDWHEEL operating modes %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Inactive 1: Active
Following error (also known as servo lag) is a gap that remains between the nominal position commanded by the NC and the actual position. Simplified representation:
vNoml
SNoml SActl
The nominal position value snoml for a given axis is compared with the actual position value sactl and the resulting difference is the following error sa: sa = sNoml – sActl sa = following error sNoml = nominal position value sActl = actual position value The following error is multiplied by the kv factor and passed on as nominal velocity value: vnoml = kv · sa vnoml = nominal velocity value Analog axes: For stationary axes, the integral factor has an additional effect (MP1080.x). It produces an offset adjustment. Digital axes: There is no offset. MP1080.x has no function.
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HEIDENHAIN Technical Manual iTNC 530
kv factor during control with following error
The control loop gain, known as the kv factor, defines the amplification of the position control loop. You must find the optimum kv factor by trial and error. If you choose a kv factor that is too large, the following error will become very small. However, this can lead to oscillations. If you choose too small a kv factor, the axis will move to a new position too slowly. For axes that are interpolated with each other, the kv factors must be equal to prevent contour deviations. 8
In MP1810.x define a set of kv factors for operation with following error.
You can selectively increase the contour accuracy with a higher kv factor. This kv factor is activated with the M function M105: 8
In MP1815.x define a second set of kv factors and activate them with M105.
M105 also influences compensation of reversal spikes during circular motion. With M106 you can switch back to the original set of kv factors: 8
Interrelation of kv factor, feed rate, and following error
Enable the M functions M105/M106 with MP7440, bit 3.
The following formula shows the interrelation of kv factor, feed rate, and following error: ve k v = ------ or sa
ve s a = -----kv
kv = loop gain [(m/min)/mm] ve = rapid traverse [m/min] sa = following error [mm] MP1810.x Input:
kv factor for control with following error 0.100 to 20.000 [(m/min)/mm]
MP1815.x
kv factor for control with following error effective after M105 0.100 to 20.000 [(m/min)/mm]
Input: MP7440 Format: Input:
September 2006
Output of M functions %xxxxx Bit 3 – Switching the kv factors with M105/M106 0: Function is not in effect 1: Function is effective
The Control Loop
6 – 187
Feedback control with velocity feedforward
The nominal velocity value consists of an open-loop and a closed-loop component. With velocity feedforward control, the machine-adjusted nominal velocity value is the open-loop controlled component. The closed-loop velocity component is calculated through the following error. The following error is small. In most cases, machines are controlled with velocity feedforward, since it makes it possible to machine exact contours even at high speeds. For the Positioning with manual data input, Program run, single block and Program run, full sequence operating modes: 8
Switch on the velocity feedforward control with MP1392.
For the Manual and El. Handwheel operating modes: 8
Switch on the velocity feedforward control with MP1391.
Block diagram:
Δ SNoml Δt
SNoml
Sa
+
v Sa
– SActl
vNoml
+ +
MP1510.x
v
MP1080.x
Analog axes: For stationary axes, the integral factor has an additional effect (MP1080.x). It produces an offset adjustment. Digital axes: There is no offset. MP1080.x has no function. You can influence the control of the forward-fed velocity with the kv factor: 8
6 – 188
In MP1510.x, enter a kv factor.
HEIDENHAIN Technical Manual iTNC 530
U [V]
t [ms]
Warning If the kv factor that you select is too large, the system will oscillate around the forward-fed nominal velocity value. Unlike operation with following error, you must also enter the optimum kv factor for each axis when operating with interpolated axes. You can selectively increase the contour accuracy with a higher kv factor. This kv factor is activated with M105: 8
In MP1515.x, define a second set of kv factors and activate them with M105.
M105 also influences compensation of reversal spikes during circular motion. With M106 you can switch back to the original set of kv factors: 8
Enable the M functions M105/M106 with MP7440, bit 3.
MP1510.x Input:
kv factor for velocity feedforward control 0.100 to 1000.000 [(m/min)/mm]
MP1515.x
kv factor for velocity feedforward control effective after M105 0.100 to 20.000 [(m/min)/mm]
Input: MP7440 Format: Input:
September 2006
Output of M functions %xxxxx Bit 3 – Switching the kv factors with M105/M106: 0: Function is not in effect 1: Function is effective
The Control Loop
6 – 189
Feedback control with velocity semifeedforward
MP1396.x allows the operator to switch to velocity semifeedforward control. Normally, work will be carried out using velocity feedforward. Velocity semifeedforward is activated, for example, by an OEM cycle before roughing, in order to permit a higher following error and thereby a higher velocity, combined with a lowered accuracy, in order to traverse corners. Before finishing, another OEM cycle can be used to switch back to velocity feedforward, in order to finish with the highest accuracy possible. In order to use velocity semifeedforward, a factor must be entered for every axis in MP1396.x, where values toward 0 control the following error more, and values toward 1 control the velocity feedforward more. The factor can be overwritten with FN17: SYSWRITE ID600. However, the factor from MP1396.x becomes valid again at the end of a program (MP7300 = 1) and whenever a new NC program is selected. As soon as a factor between 0.001 and 0.999 has been entered in MP1396.x, the kV factor from MP1516.x becomes effective. Note For axes that are interpolated with each other, the kv factors must be equal. In this case the smaller kV factor determines the input value for these axes. The values for position monitoring are interpolated according to the factor in MP1396.x between the values for servo lag (MP1710.x, MP1720.x) and the values for velocity feedforward control (MP1410.x, MP1420.x).
Feedback control with Feedback control with velocity following error (servo lag) semifeedforward
Feedback control with velocity feedforward
MP1391 bit x = 0 MP1392 bit x = 0 MP1396.x = nonfunctional
MP1391 bit x = 1 MP1392 bit x = 1 MP1396.x = 1
6 – 190
MP1391 bit x = 1 MP1392 bit x = 1 MP1396.x = 0.001
MP1396.x = 0.999
HEIDENHAIN Technical Manual iTNC 530
To use feedback control with velocity semifeedforward:
September 2006
8
Activate the velocity feedforward control with MP1391 and/or MP1392.
8
Determine the kv factor for velocity feedforward control (MP1510.x).
8
Activate the velocity semifeedforward control by entering the desired factor in MP1396.x.
8
Determine the kv factor for velocity semifeedforward control (MP1516.x).
8
Enter MP1396.x = 1 to return to velocity feedforward control.
8
For example, you may now use FN17: SYSWRITE ID 600 in an OEM cycle to overwrite or reestablish the factor in MP1396.x.
MP1396.x Input:
Feedback control with velocity semifeedforward 0.001 to 0.999 1: Velocity feedforward control
MP1516.x Input:
kV Factor for velocity semifeedforward 0.100 to 20.000 [(m/min)/mm]
The Control Loop
6 – 191
Rapid traverse and feed rate limitation
If more than one axis is moved simultaneously, the rapid traverse on the path vpath is formed from the appropriate axis components. The same also applies to the path acceleration (see “Interpolator” on page 6 – 162).
vpath vaxis 2
vaxis 1 If there are problems with the inverter, e.g. because the energy being generated from the axes in motion cannot be dissipated, you can limit the rapid traverse on the path: 8
Enter the maximum rapid traverse on the path in MP1011.
8
Enter the inputs axis-specifically in MP1010.x.
The feed rate can be limited via the PLC: 8
Enter the reduced maximum contouring feed rate in D596.
8
Limit the feed rate axis-specifically with Module 9140. It can be read with Module 9141.
If the value in D596 is greater than MP1011, then MP1011 becomes effective. After the control is switched on, or after an interruption of the PLC run, D596 is preassigned with the value 300 000 so that MP1011 becomes effective. Rapid traverse can be limited by the user with the F MAX soft key. This limitation is not effective if M4587 is set. In this case only limitation through D596 is effective. After M4587 is reset, both D596 and the last limit set via the F MAX soft key are effective again. The feed rate is significantly lower for manual operation than for rapid traverse: 8
Enter in MP1020 a feed rate for manual operation.
The programmed feed rate and the current path feed rate are saved in D360 and D388 in mm/min. In the manual operating modes, the highest axis feed of all axes is stored in D388. The maximum possible feed rate depends on the encoder being used. vmax [mm/min] = P [mm] · fi [kHz] · 60 vmax = Maximum traverse speed P= Signal period of the encoder fi = Input frequency of the encoder input (see “Encoder signals” on page 6 – 9 and see “Encoder Connections” on page 3 – 42)
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HEIDENHAIN Technical Manual iTNC 530
Digital axes: For digital axes, the maximum feed rate also depends on the number of pole pairs in the drive motor and the pitch of the ballscrew. 30 000 vmax [mm/min] = [1/min] · ballscrew pitch [mm] No. of pole pairs Analog axes: 8
In MP1050.x, enter the desired analog voltage for rapid traverse.
8
Adjust the rapid traverse feed rate (vmax) with the analog voltage at the servo amplifier.
Module 9140 Set axis-specific feed-rate limit With Module 9140 you can set axis-specific feed-rate limits. The limits are saved in sequential double words for each axis. The address of the starting double word must be given. Along with a feed-rate value (≥ 0), the following limitations are possible in the double words: –1: Maximum feed rate (a previous limitation via Module 9140 is rescinded) –2: Axis-specific rapid traverse from MP1010.x (for multi-axis interpolation, the contouring feed rate is limited to the slowest respective value of the participating axes) –3: Axis-specific manual feed rate from MP1020.x (for multi-axis interpolation, the contouring feed rate is limited to the slowest respective value of the participating axes) Invalid feed-rate values are set to 0 and M4203, other axes retain their limits. Call: PS PS CM
B/W/D/K B/W/D/K 9140
Error recognition: Marker
Value
Meaning
M4203
0
Feed-rate limit is set
1
Error code in W1022
1
Invalid feed-rate value (< –3)
2
Invalid number of axes or double words
3
Invalid block length as of starting address
5
No double word address
24
Module was called in a spawn job or submit job
W1022
September 2006
The Control Loop
6 – 193
Module 9141 Read axis-specific feed-rate limit With Module 9141 you can read axis-specific feed-rate limits. The limits are saved in sequential double words for each axis. Along with feed-rate values (≥ 0), the limitations –1, –2 or –3 (see Module 9140) are also transferred. Call: PS PS CM
B/W/D/K B/W/D/K 9140
Error recognition: Marker
Value
Meaning
M4203
0
Feed-rate limit is set.
1
Error code in W1022
2
Invalid number of axes or double words
3
Invalid block length as of starting address
W1022
No double word address
24
Module was called in a spawn job or submit job
MP1010.x Input:
Rapid traverse 10 to 300 000 [mm/min or °/min]
MP1011 Input:
Limit of rapid traverse on the path 10 to 300 000 [mm/min or °/min]
MP1020.x Input:
Manual feed 10 to 300 000 [mm/min]
MP1050.x Input:
Analog axes: Analog voltage at rapid traverse 1.000 to 9.000 [V] Digital axes: without function Input: 1
M4587 D596 D360 D388
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5
Rescind feed rate limit above F MAX Max. feed rate from PLC [mm/min] Programmed feed rate Current contouring feed rate [mm/ min]
Set
Reset
PLC NC/PLC NC NC
PLC PLC NC NC
HEIDENHAIN Technical Manual iTNC 530
Position loop resolution
The encoder signals are interpolated 1024-fold. Position loop resolution [µm] =
Analog axes
Signal period [µm] 1024
The iTNC outputs a voltage per position error. The 10-V analog voltage is subdivided 65536-fold with a 16-bit D/A converter. This results in a smallest voltage step of 0.15 mV. Rapid traverse (MP1010.x) is attained at a certain voltage (MP1050.x). This results in the voltage DU per position error or following error sa:
ΔU
MP1050.x [mV] = ----------------------------------------S a [µm]
If DU is divided by the smallest possible voltage step (0.15 mV), the result is the number n of the possible voltage steps per position error.
September 2006
The Control Loop
6 – 195
Characteristic curve kink point (for control with following error)
For machines with high rapid traverse, you can not increase the kv factor enough for an optimum control response to result over the entire velocity range (from standstill to rapid traverse). In this case you can define a characteristic curve kink point, which has the following advantages: High kv factor in the low range Low kv factor in the upper range (beyond the machining velocity range) 8
Define the position of the characteristic kink with MP1830.x. In the upper range, the kv factor is multiplied by the factor from MP1820.x.
8
Enter a multiplier in MP1820.
U [V]
9
MP1810 · MP1820 MP1830
MP1810 (= kv) sa The characteristic curve kink point must lie above the tool feed rate! Calculating the lag (following error): s
6 – 196
a
ve MP1830.x [%] 100 [%] – MP1830.x [%] = ⎛ --------------------------------------------- + ------------------------------------------------------------------------------⎞ ⋅ ------⎝ ⎠ kv 100 [%] MP1820.x ⋅ 100 [%]
MP1820.x Input:
Multiplier for the kv factor 0.001 to 1.00000
MP1830.x Input:
Characteristic curve kink point 0.000 to 100.000 [%]
HEIDENHAIN Technical Manual iTNC 530
Opening the position control loop
If M4581 has been set, the control opens the loops of all axes and of the spindle, and then performs an NC stop. This makes it possible, for example, to open the position control loops and at the same time switch off the drives. As with an external emergency stop, position monitoring is shut off for the time defined in MP1150.1, and an actual-to-nominal value transfer is executed. After the time defined in MP1150.1 has expired, position monitoring is again active, for at least the time defined in MP1150.2. If at a standstill or with an external stop, the PLC sets M4581 in the Program Run Full Sequence, Program Run Single Block, or Positioning with MDI operating modes, and then the axes are moved, the Approach position function will be activated when the PLC resets M4581. If MP4020 bit 8 = 1, then, if the axes are moved after an emergency stop, “Approach position” is automatically activated. If M4580 has been set, an external EMERGENCY STOP (X42, pin 4 “controlis-ready”) is not reported to the NC, but rather the function is executed like M4581. If the position control loop is opened, the axis release in W1024 is canceled.
M4580 M4581 W1024
MP1150.1 Input: MP4020 Input:
September 2006
Suppress EMERGENCY STOP, open all position control loops, NC stop Open all position control loops, NC stop, activate “Approach position” Axis enabling Bits 0 to 13 represent axes 1 to 14 0: Position control loop open 1: Position control loop closed
Set
Reset
PLC
PLC
PLC
PLC
NC
NC
Time period for which the monitoring function is to remain off after the fast PLC input defined in MP4130.0 is set 0 to 65.535 [s] Recommended: 0.2 to 0.5 PLC functions Bit 8 – Behavior after an external emergency stop 0: “Approach position” is not automatically activated 1: “Approach position” is automatically activated
The Control Loop
6 – 197
Clamping the axes
After running an NC block you can clamp the axes. 8
If necessary, define in MP7494 the axes for which an exact stop is to occur after positioning
8
Wait until “axis in position” is set in W1026.
8
Clamp the axis or axes.
8
Open the position control loop with W1040.
8
With Module 9161, switch the drive off.
A waiting period is necessary between “axis clamping” and “position control loop opening.” 8
In W1038, set the bit for the corresponding axis.
The next NC block is not run until the positioning window has been reached and the position control loop has been opened with W1040. If the position control loop is opened, the axis release in W1024 is canceled. You can link switching off the drives via Module 9161 with W1024. If a clamped axis is to be repositioned, the NC cancels the “axis in position” message in W1026: 8
With Module 9161, switch the drive on.
8
Release the clamping.
8
Close the position control loop with W1040.
MP7494 Format: Input:
Axes for which an exact stop is to occur after positioning %xxxxxxxxxxxxxx 0: No exact stop 1: Exact stop Set
W1038
W1040
6 – 198
Preparing opening of the position PLC control loop Bits 0 to 13 represent axes 1 to 14 0: Not active 1: Active Axis-specific opening of the position PLC control loop Bits 0 to 13 represent axes 1 to 14 0: Do not open the position control loop 1: Open the position control loop
Reset PLC
PLC
HEIDENHAIN Technical Manual iTNC 530
Feed-rate enable
To move the axes, you must first enable the feed rate through the PLC. Until “feed-rate enable” is set, the nominal velocity value zero is output. “F” is highlighted in the status display. Feed-rate enable for all axes: 8
Set M4563.
Axis-specific feed-rate enable: 8
Reset M4563.
8
In W1060, set the corresponding bits.
M4563 W1060
September 2006
Feed-rate enable for all axes Axis-specific feed-rate enable Bits 0 to 13 represent axes 1 to 14 0: No feed-rate enable 1: Feed-rate enable
The Control Loop
Set
Reset
PLC PLC
PLC PLC
6 – 199
Actual-to-nominal value transfer
During actual-to-nominal value transfer, the current position is saved as the nominal position value. This becomes necessary, for example, if the axis has been moved when the position control loop is open. There are two ways to turn the actual position into the nominal position: 8
To transfer the actual position value in the Manual and Electronic Handwheel modes, set the corresponding bit in W1044.
8
To transfer the actual position in all operating modes, use Module 9145. Warning Ensure that actual-to-nominal value transfer does not occur continually, since the position monitoring will not be able to detect any uncontrolled machine movements. In this case no safe machine operation would be possible.
W1044
Actual-to-nominal value transfer Bits 0 to 13 represent axes 1 to 14 0: No actual-to-nominal value transfer 1: Actual-to-nominal value transfer
Set
Reset
PLC
PLC
Module 9145 Actual-to-nominal value transfer An actual-to-nominal value transfer for NC axes, or for PLC and NC axes together, is possible only if the control is not active (M4176 = 0) or if there is an M/S/T/T2/G strobe. The module can always be called for an actual-to-nominal transfer only for PLC axes. For a transfer via M strobe, MP7440 bit 2 must not be set. For a transfer via S/G strobe, MP3030 must not be set. Call: PS CM
B/W/D/K 9145
Error recognition:
6 – 200
Marker
Value
Meaning
M4203
0
Actual-to-nominal value transfer performed
1
Error code in W1022
W1022
2
Invalid axis number
21
Missing M/S/T/T2/G strobe in M4176 = 1
24
Module was called in a spawn job or submit job
HEIDENHAIN Technical Manual iTNC 530
✎
September 2006
The Control Loop
6 – 201
6.8.4 Speed Controller 6, 10 or 12 digital speed controllers for the axes and spindle(s) are integrated in the iTNC 530: The actual speed values are measured directly at the motors with HEIDENHAIN rotary encoders. The position controller provides the nominal speed value. The speed controller is driven by the difference between nominal and actual speed values. It provides the nominal current value as output.
Nominal rpm
Speed controller
Power stage
Current
controller Nominal current value
Motor
Machine slide
Actual current
Actual rpm
See “Commissioning” on page 6 – 317. With Module 9164 you can read the actual speed value of the motors. You can adjust the step response of the speed controller: 8
6 – 202
With the position controller switched off, enter with MP2500.x a proportional factor and with MP2510.x an integral factor for the speed controller. Adjust the step response so that only one overshoot is visible and the settling time toff is as small as possible. Realistic values for the settling time: 3 ms to 15 ms
MP2500.x Input:
Proportional factor of the speed controller 0 to 1 000 000.000 [As]
MP2510.x Input:
Integral factor of the shaft speed controller 0 to 100 000 000 [A]
HEIDENHAIN Technical Manual iTNC 530
Module 9164 Reading the actual speed value of the motor The resolution of the actual speed value depends on the encoder being used: 1 Resolution = · 100 000 [rpm] Line count · 1024 Call: PS
CM PL
B/W/D/K 0 to n: Axes 1 to n+1 15: Spindle 9164 B/W/D
Error recognition: Marker
Value
Meaning
M4203
0
Actual speed value was read
1
Control has no integrated current controller
The step response illustrated above is idealized. In practice, interfering oscillations are superimposed on the step response. You can reduce these interference oscillations with the differential factor, the PT2 second-order time-delay element, the band rejection filter and the lowpass filter of the speed controller.
September 2006
The Control Loop
6 – 203
Differential factor
The differential factor can reduce low-frequency oscillations. However, it increases oscillations in the high frequency range. 8
In MP2520.x, enter a differential factor. Note Ensure that the system is stable enough! The differential factor is not recommended on machines with motors that have belt couplings. The influence of aging and temperature is too great.
Estimating the differential factor: T ⋅ MP2500.x MP2520.x ≈ -------------------------8 MP2520.x: Differential factor of the speed controller [As2] MP2500.x: Proportional factor of the speed controller T: Period of the lowest interference frequency [s] MP2520.x Input: Low-pass filter
Differential component of the speed controller 0 to 1.0000 [As2]
With the low-pass filter you can damp high-frequency oscillations (> approx. 450 Hz): 8
Use the oscilloscope to find the fundamental frequency of the iTNC.
8
Activate the 1st or 2nd order low-pass filter (see table).
Fundamental frequency of the interference oscillation
Filter order (MP2560.x)
450 Hz to 550 Hz (approx.)
First order (MP2560.x = 1)
> 550 Hz (approx.)
Second order (MP2560.x = 2)
If you cannot achieve satisfactory results with the low-pass filter, try the PT2 element. MP2560.x Input:
6 – 204
Low-pass filter of the speed controller 0: No low-pass filter 1: 1st-order low-pass filter 2: 2nd-order low-pass filter
HEIDENHAIN Technical Manual iTNC 530
PT2 element of the speed controller
If the controlled system is insufficiently damped (e.g. direct motor coupling or roller bearings), it will be impossible to attain a sufficiently short settling time when the step response of the speed controller is adjusted. The step response will oscillate even with a low proportional factor: 8
In MP2530.x, enter a value for damping high-frequency interference oscillations. If the value you choose is too high, the kv factor of the position controller and the integral factor of the speed controller is reduced. Realistic input values: 0.0003 to 0.0020
MP2530.x Input: Band-rejection filter
With the band-rejection filter you can damp oscillations that you cannot compensate with the differential factor, the PT2 element, or the low-pass filter: 8
With the oscilloscope of the iTNC, find the fundamental frequency of the interference oscillations and enter them in MP2550.x.
8
Increase MP2540.x incrementally until the interfering oscillation is minimized. If you set the damping too high, you will limit the dynamic performance of the control loop. Realistic input values: 3 to 9 [dB]
MP2540.x Input:
Band-rejection filter damping of the speed controller 0.0 to 18.0 [dB]
MP2550.x
Band-rejection filter center frequency of the speed controller 0.0 to 999.9 [Hz]
Input:
September 2006
PT2 element of the speed controller (2nd-order delay) 0 to 1.0000 [s]
The Control Loop
6 – 205
Active damping of low-frequency oscillations
The active damping of low-frequency oscillations is suitable for damping noise oscillations of approx. 10 to 30 Hz. The damping factor is set in MP2607.x, and the damping time constant in MP2608.x. It can be calculated according to the following formula: k MP2608.x = ----------------2⋅π⋅f k: Factor from 0.8 to 1.0 f: Frequency to be damped (approx. 10 Hz < f < 30 Hz) Note The active damping should only be used if improvements actually occur, since the damping could also lead to lower and higher frequencies being fortified. Activating the active damping:
6 – 206
8
Ascertain the deepest resonant frequency (e.g. with the frequency diagram in TNCopt when adjusting the IPC and kV factor).
8
Set MP2607.x = 1.5.
8
Calculate the damping time constant according to the above formula with k = 0.9, and enter this value in MP2608.x.
8
Record I (n int) or s diff with the integrated oscilloscope, and move the axis with the axis-direction buttons.
8
Vary the value of k up and down somewhat (between 0.8 and 1.0), calculate MP2608.x, and compare the oscilloscope recordings in order to find the correct value for MP2608.x (the value with the lowest amplitude).
8
Vary MP2607.x, and compare with the recordings in the frequency diagram in TNCopt for the adjustment of the IPC and kV factor.
8
Select the value for MP2607.x by evaluating the advantages and disadvantages of the active damping.
MP2607.x Input:
Damping factor for active damping 0 to 30.000 0: No damping 1.5: Typical damping factor
MP2608.x Input:
Damping time constant for active damping 0 to 0.9999 [s] 0: No damping 0.005 to 0.02: Typical damping time constant
HEIDENHAIN Technical Manual iTNC 530
Acceleration feedforward
Acceleration feedforward functions only in velocity feedforward control in parallel with the speed controller. At every change in velocity, spikes of short duration appear in the following error. With acceleration feedforward control you can minimize these spikes: 8
First adjust the friction compensation. Enter values in MP2610.x to MP2620.x.
8
From the integral-action component of the nominal current value I (INT RPM) calculate the input value for MP2600.x.
8
Adjust the acceleration feedforward control with MP2600.x.
MP2600 = 0
MP2600.x at optimum setting
September 2006
The Control Loop
6 – 207
For calculation of the acceleration feedforward, the integral-action component of the nominal current value I (INT RPM) is recorded with the internal oscilloscope. The actual speed value V (ACT RPM) and nominal current value I NOMINAL are also recorded for better illustration. MP2600.x =
I (N INT) [A] ⋅ t [s] ⋅ 60 [s/min] ⋅ MP1054.x [mm] -------------------------------------------------------------------------------------------ΔV (N IST) [mm/min]
I (INT RPM) = integral-action component of the nominal current value t = acceleration time in which I (INT RPM) remains constant ΔV (ACT RPM) = actual speed value during change MP1054.x = traverse distance per motor revolution MP2600.x Input: Limiting the integral factor
In machines with a great deal of stiction, a high integral-action component can accumulate if there is a position error at standstill. This can result in a jump in position when the axis begins moving. In such cases you can limit the integralaction component of the speed controller: 8
Enter a limit in MP2512.x. Realistic input values: 0.1 to 2.0
MP2512.x Input:
6 – 208
Acceleration feedforward 0 to 100.0000 [A/(rev/s2)]
Limiting the integral-action component of the speed controller 0.000 to 30.000 [s]
HEIDENHAIN Technical Manual iTNC 530
Integral Phase Compensation IPC
An I factor can be set in the speed controller of the iTNC (MP2510.x). This I factor is needed to attain a short setting time. However, the I factor has a negative influence on the position controller, i.e. the position controller tends to oscillate more easily, and it is often impossible to set the kV factor (MP1510.x) high enough. The IPC (Integral Phase Compensation) compensates the negative influence of the I factors on the speed controller, and makes it possible to increase the kV factor (MP1510.x). The IPC is beneficial on the following types of machines: Machine type 1: Machines with a dominant natural frequency between 15 Hz and 80 Hz, for which it is not possible to set a sufficiently high kV factor. Machine type 2: Small-to-medium size machines that are driven directly. Note The acceleration feedforward (MP2600.x) must already have been carefully adjusted for both types of machines. If after commissioning the IPC you wish to optimize the speed controller again, you must switch off the IPC beforehand, because the IPC influences the curve form. Use the same test program to commission the IPC as is used to measure the jerk and the kV factor. Machine type 1: 8
The machine is commissioned as usual until the kV factor is to be determined.
8
Enter MP2602.x = 1 and MP2604.x = 0.
8
Increase the kV factor (MP1510.x) until you reach the oscillation limit.
8
Starting value:
8
Change MP2604.x until you have found the maximum kV factor (MP1510.x). If you cannot find a maximum kV factor, use the default value in MP2604.x.
8
Starting value:
8
Increase MP2602.x until you have found a maximum kV factor (MP1510.x). If the value found for MP2602.x is significantly greater than the starting value (> factor 2), you should adjust MP2604.x again by enlarging and reducing it to find the optimum value.
8
September 2006
2 MP2604.x = --3
-------------------------------⋅ MP2600.x MP2500.x
MP2600.x MP2602.x = -------------------------------MP2500.x
MP1510.x = 0.65 · ascertained kV
The Control Loop
6 – 209
Machine type 2: 8
The machine is commissioned as usual until the kV factor is to be determined.
8
Enter MP2602.x = 1 and MP2604.x = 0.
8
Increase the kV factor (MP1510.x) until you reach the oscillation limit.
8
Starting value:
8
Change MP2604.x, normally by reducing it, until the following error is at its minimum.
8
Optimizing the jerk feedforward control
2 MP2604.x = --3
-------------------------------⋅ MP2600.x MP2500.x
MP1510.x = 0.65 · ascertained kV
MP2602.x Input:
IPC time constant T1 0.0001 to 1.0000 [s] 0: IPC inactive
MP2604.x Input:
IPC time constant T2 0.0001 to 1.0000 [s] 0: IPC inactive
The jerk feedforward control causes the following error to be reduced or compensated during a dynamic phase (in this case the phase of the change in acceleration). When the feedforward control is initially configured, the necessary jerk feedforward control is calculated for the known control-loop factors but the mechanical deformation of the transmission components (e.g. due to torsion of the ball screw or the slack sides and tight sides of belt drives) and the resulting following error are unknown. This can be minimized or compensated with the dimensionless multiplier MP2606, which affects the jerk feedforward control directly. When optimizing the jerk feedforward control all other controller parameters must already have been adjusted. A prerequisite for the activation of the possibility of compensation in combination with the CC 422 is an active and already adjusted IPC (Integral Phase Compensation). With the CC 424 you can also use this function without active IPC. Commissioning:
6 – 210
8
Enter the following test program: 0 BEGIN PGM TEST MM 1 LBL 1 2 L X R0 FMAX 3 L X0 FMAX 4 CALL LBL1 REP 10/10 5 END PGM TEST MM
8
Run the program at high speed.
8
Use the integrated oscilloscope to record the following error.
HEIDENHAIN Technical Manual iTNC 530
8
CC 422: Adjust MP2606.x until a minimal following error occurs in the jerk phase. Here you can compensate positive following errors (MP2606.x > 1) as well as rare negative following errors (MP2606 < 1) for the jerk phase. Typical input values: 0.5 to 2.
8
CC 424: Adjust MP2606.x until a minimal following error occurs in the jerk phase. Here you can compensate the following error for the jerk phase. Typical input values: 0 to 0.5 (e.g. 0.01). Note Please note that values over 0.5 in MP2606.x do not make sense for the CC 424 controller unit, and are therefore not permissible. Therefore, an error message will be issued for values greater than 0.5.
MP2606.x Input: Holding torque
Following error in the jerk phase 0.000 to 10.000
The holding torque is the torque that is required to keep a vertical axis at a standstill. The holding torque is given by the iTNC through the integral-action component of the nominal current value. In most cases the holding torque is constant. The required holding current can therefore be fed forward through MP2630.x. This relieves the speed controller. 8
To prevent the effect of stiction, measure the current at low speed in both directions (e.g. 10 rpm).
8
Calculate the holding current from the mean of the measured current values and enter the result in MP2630.x.
Mean: MP2630.x =
I NOML1 + I NOML2 2
Note Please note that when reading the current via the internal oscilloscope, on the CC 422 you are seeing the peak value, and on the CC 424 you are seeing the effective value of the current. If the ready signal (RDY) is missing from the speed encoder inputs of vertical axes, the DSP error message 8B40 No drive release appears. A vertical axis is defined with an entry in MP2630.x. MP2630.x Input:
September 2006
Holding current -30.000 to +30.000 [A]
The Control Loop
6 – 211
6.8.5 Switching Drives On and Off The procedure recommended by HEIDENHAIN for switching the drives on and off, including the correct triggering of the brakes, can be configured with the PLC basic program. HEIDENHAIN recommends using the PLC basic program. Readiness of the drives
The drives can only be switched on once the drive system is ready. This includes the readiness of the supply unit (RDY.PS signal at X69 pin 17a – interrogation via Module 9066 bit 5), the inverters (RDY signal at X51..64 pin 10b of the PWM outputs) and of the motors. the “global” drive enabling with an emergency stop via I32 (X42/33), but this can be switched off with MP2050. the conclusion of the motor orientation (determination of the field angle). the release via X150/X151 of the axis groups, if they are used.
Basic settings
Basic settings: 8
Ensure that the clamping or brakes activate when an emergency stop is effected.
8
Ensure via Module 9159 (drive controllers are switched off) that the clamping or brakes activate before the drive controllers (current and speed controllers) are switched off.
8
Interrogate the readiness of the HEIDENHAIN supply module with Module 9066 bit 5.
8
Before switching off the drives, save the positions of axes with common encoders.
8
Determine the functionality of the global drive enabling through I32 (X42/33) with MP2050. If this function is used, ensure that connection X42 pin 33 (I32) is wired correctly. HEIDENHAIN recommends always wiring the system according to the basic circuit diagram of the iTNC 530.
8
In MP2040.0 to MP2040.2, define the axis groups for drive enabling through X150/X151 pin 1 to pin 3 (e.g., MP2040.0 = %00000000000111 determines drive enabling for axes 1 to 3 via axis group 1). Depending on the control loop being used, either X150 and/or X151 must be wired (see “X150, X151: Drive controller enabling for axis groups” on page 3 – 40). Use Module 9157 to interrogate the status of X150/X151.
If drive enabling to X150/X151 is missing, the drive motor will always be switched off and the position controller will be informed accordingly. 8
6 – 212
Set W524 Bit 0 = 1, so that the control loop is opened and no error message appears when switching off the drive with X150/X151.
HEIDENHAIN Technical Manual iTNC 530
If drive enabling of axis groups via X150/X151 is used, the PLC program should perform a plausibility test to see if all axes used are defined in MP2040.x Danger If a bit is defined incorrectly in MP2040.x, the drive motor might not be switched off through X150/X151. Note If drive enabling through X150/151 or X42/33 is missing, the error message 8B40 No drive release appears. If you do not want to use drive enabling for axis groups, but rather just global drive enabling through I32 (X42/33), set all bits in MP2040.x to %00000000000000 and in W524 to zero. The iTNC monitors the time between the switch-on of the drive controller (via Module 9161) and the READY signal of the power module (via the PWM cables). If the READY signal is missing after the waiting time has passed, the error message 8B40 No drive release appears. In MP2170 you preset the permissible waiting time. If the readiness signal is reset at the PWM outputs, the drive controllers (current and speed controllers) are switched off. Normally, the error message MOVEMENT MONITORING IN B is output through the position control loop. Subsequently, the PWM signal release is switched off by the reset signal. As of NC software 340 420-06 the current controller is switched on 50 ms after the controller is switched on (Module 9161). This also delays the acknowledgment over Module 9162 by 50 ms.
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The Control Loop
6 – 213
Procedure for “switching drives on and off”
Start
0
Initialization
- Open the pos. control loop (W1038/1040 [bit] = 1) - Close the clamping for all axes - Open the current and speed controller (Module 9161) - Read out the relevant machine parameters - Evaluate the machine configuration - Analog axes: (output for controller enabling to 0)
1
In position
- Axis clamping free of error ? (central drive, C-axis mode, axis with Hirth grid)
Error message No
Yes
- Axis in position (W1026 [bit] = 1, Target pos. in Hirth grid)
No
Yes
- Lock the feed rate enabling (W1060 [bit] = 0)
3
Switch on current & speed controller
No Drives ready for switch-on? (Module 9157 status [bit] = 1)
Timeout No
Error message Ja
Yes - Digital: Switch on current & speed controller (Module 9161 [bit] = 1) - Analog: Set the “controller enabling“ output
No Are the current and speed controllers switched on? (Module 9157 status [bit] = 1)
Timeout No
Error message Ja
1
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HEIDENHAIN Technical Manual iTNC 530
1
3
Close the position control loop
- Close the position ctrl loop (W1040 [bit] = 0)
No Is the ctrl loop closed? (W1024 [bit] = 1)
Timeout
Error message Yes
No
Yes 4
Release the clamping
- Is the clamping released (e.g. lock)?
No Acknowledgement (if received) or waiting time: Clamping released?
Timeout
Error message Yes
Yes 5
Positioning
- Release the feed rate (W1060 [bit] = 1)
Axis in position (W1026 [bit] = 1)?
No
Yes 6
Axis clamping
- Close the clamping (e.g. the lock)
No Acknowledgement (if received) or waiting time: Clamping active?
Timeout
Error message Yes
2
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The Control Loop
6 – 215
2
7
Open the position control loop
- Open the pos. ctrl loop (W1038/1040 [bit] = 1)
No Is the position ctrl loop open? (W1024 [Bit] = 0)
Timeout No
Error message Yes
Yes 8
Switch off current and speed controller
- Digital: Switch-on the current and speed ctrlr (Module 9161 [bit] = 1) - Analog: Set the controller-enabling output
Yes Are the current and speed controller switched off? (Module 9157 status [bit] = 0)
Timeout No
Error message Yes
Yes Continue with step
1
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In position
HEIDENHAIN Technical Manual iTNC 530
Avoiding global drive enabling
Machine parameters, markers, modules and PLC words
You can define axes for which the drives will not switch off if the global drive enabling through I32 (X42/33) is missing: 8
Determine the functionality of the global drive enabling through I32 (X42/33) with MP2050.
8
With Module 9169 transfer in bit code the axes that are not to be switched off.
MP2040 Format: Input:
Axis groups (for drive enabling through X150/X151) %xxxxxxxxxxxxxx 0: Axis not assigned (disabling only through I32). 1: Axis assigned MP2040.0-2 Axis group 1 to 3 MP2040.3-7 Reserved, enter %00000000000000 MP2050 Input:
Functionality of drive enabling I32 (X42/33) 0: Emergency stop for all axes, Module 9169 not effective 1: Emergency stop for all axes that are not excepted with Module 9169 2: I32 and Module 9169 have no function
MP2170
Waiting time between the switch-on of the drive and the drive’s standby signal 0.001 to 4.999 [s] 0: 2 [s]
Input:
Set W524
September 2006
Open the control loop if drive enabling PLC via X150/X151 is missing Bit 0 = 0: Position control loop stays closed Bit 0 = 1: Position control loop is opened Bit 1 to bit 15: Non-functional
The Control Loop
Reset PLC
6 – 217
Module 9157 Drive controller status Status information about the drive controller can be ascertained with this module. Call: PS
CM PL
B/W/D/K 0: Readiness of drives (bits 0 to 13) Result 0: Drive is not ready and cannot be switched on Result 1: Drive is ready and can be switched on 1: Drive controller status (as in Module 9162) 2: Axis enabled through X150/X151 (bits 0 to 13 = 1) or axis not enabled (bits 0 to 13 =0) 3: Signal to X150/X151 (bits 0 to 7 = X150; bits 8 to 15 = X151) 4: Spindle in operating mode 0 (bit 15 = 0) or operating mode 1 (bit 15 = 1) 9157 B/W/D
Error recognition: Marker
Value
Meaning
M4203
0
Status information was ascertained
1
Error code in W1022
W1022
2
Invalid status information was programmed
24
Module was called in a spawn job or submit job
Module 9159 Advance status report: Drives will be switched off Call: CM 9159 PL W/D Module 9161 Enable the drive controller With this module you can switch the drive controllers (speed and current controllers) on and off for specific axes. A nominal speed value is also output when the drive controller is not enabled. Call: PS
W/D/K
CM
9161
Bit 0 to 13 -> axis 1 to 14, bit 15 -> spindle 0: No drive controller enabling 1: Drive controller enabling
Error recognition:
6 – 218
Marker
Value
Meaning
M4203
0
No error
1
Control has no current controller, or the call is in a spawn or submit job
HEIDENHAIN Technical Manual iTNC 530
Module 9162 Status request of the drive controller Call: CM 9162 PL B/W/D Bit 0 to 13 -> axis 1 to 14, bit 15 -> spindle 0: Not ready 1: Ready Module 9169 Axes for which I32 does not switch off the drives Call: PS B/W/D/K CM 9169
M4563
September 2006
Global feed-rate enable for all axes
The Control Loop
Set
Reset
PLC
PLC
6 – 219
✎
6 – 220
HEIDENHAIN Technical Manual iTNC 530
6.8.6 Current Controller 6, 10 or 12 digital current controllers for the axes and spindle(s) are integrated in the iTNC 530. The nominal values for magnetizing current Idnom and torque current Iqnom are divided into the PWM signals U1, U2 and U3 through a PI controller and vector rotator VD+, and are transferred to the power module through X51 to X60. The actual current values I1act and I2act are determined by the power module and are transferred to vector rotator VD– through X51 to X60. The vector rotator determines the actual values of magnetizing current Idist and torque current Iqnom. Circuit diagram:
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The Control Loop
6 – 221
You adjust the current controller to attain the optimum result, with the position and speed controller switched off.
The step response is adjusted such that there is no overshoot and the rise time is as small as possible:
6 – 222
8
In MP2420.x, define the P factor of the current controller.
8
In MP2430.x, define the I factor of the current controller.
MP2420.x Input:
P factor of the current controller 0 to 9999.99 [V/A]
MP2430.x Input:
I factor of the current controller 0 to 9 999 999 [Vs/A]
HEIDENHAIN Technical Manual iTNC 530
6.8.7 Braking the Drives for an Emergency Stop and a Power Fail In an emergency stop and power failure the spindle must be braked as quickly as possible. If the braking energy cannot be drawn off quickly enough, the dclink voltage increases sharply. Under circumstances, the inverter could switch off and the spindle coast to a stop. A powerful braking of the spindle also leads to a high strain on the mechanics of the machine. Preferably the spindle should be braked in an emergency stop by limiting the braking power. Note Limiting the braking power is also effective when braking the spindle with M05, if the brake ramp in M05 (MP3411 and MP3412) is steeper than the brake ramp when limiting the braking power. Normally, in case of an emergency stop, the axes are braked at the limit of current. This can create problems: With gantry axes a mechanical offset can occur between the master and slave axes. A gear between spindle and motor can be overloaded. In such cases, the axes should preferably be braked in an emergency stop by adding an additional braking ramp. Note Both of the above braking strategies are possible for axes and spindles. If both braking strategies are activated for an axis or spindle, they do not exclude each other; this means that in case of an emergency stop, whichever strategy responds first takes effect. Problems with inverters without regenerative power supplies (with braking resistors) during braking mostly arise if the inverter is switched off too early. The strain on the mechanics during braking is reduced, but can also be influenced with braking strategies. Inverters with regenerative power supplies usually do not develop problems if they are switched off. The main concern here is for the mechanics of the machine. If the maximum regenerative power of the inverter is exceeded when braking the drives (during an emergency stop, for example), the axes and spindle(s) coast to a stop. In this case it is sensible to define separate maximum braking powers for each drive in MP2390.x. This will ensure that each drive is braked as quickly as possible.
September 2006
The Control Loop
6 – 223
Braking the axes by entering an additional braking ramp
In this strategy, the braking ramp to be used in an emergency stop is entered. Set the axis braking ramp for an emergency stop: 8
MP1060.x ⋅ 60 Enter as a minimum value in MP2590.x = -------------------------------------MP1054.x
8
Use the emergency stop to brake the axis from rapid traverse.
8
Increase the value entered in MP2590.x until the braking time is as short as possible and the mechanics of the axis are not overloaded.
If the value entered is too small, i.e. if braking is too slow, the axis brakes at the acceleration defined in MP1060.x. Note The value entered in MP2590.x refers to the motor speed, meaning the ballscrew pitch is not considered. MP2590.x Input:
Braking the spindle/spindles by entering the braking power
6 – 224
Braking ramp in an emergency stop 0.1 to 999.9 [rpm/ms] 0: Function inactive
In this strategy the maximum braking power for braking the spindle/spindles in an emergency stop or power failure is entered. If power limiting (MP2392.x) is used in normal operation, then the maximum braking performance is limited to the lower of the two values from the power limiting and the braking power. Example: Function
Case 1
Case 2
Power limiting (MP2392.x)
10 kW
5 kW
Maximum braking power (MP2390.x, MP2394.x)
5 kW
10 kW
Limiting the braking performance to
5 kW
5 kW
HEIDENHAIN Technical Manual iTNC 530
Braking the spindle/spindles in an emergency stop 8
For inverters with regenerative power supply, enter MP2390.x = 0 so as not to limit the braking power.
8
Calculate for inverters with braking resistors the input value for MP2390.x from the following formula: 2
UZ MP2390.x = -------------------------R ⋅ 1000 R = Braking resistance [Ω] UZ = dc-link voltage [V] Starting with NC software 340 422-10 and 340 480-10, the maximum braking power from MP2390.x may be greater than the power limit from MP2392.x. Braking the spindle/spindles during a power fail During a power fail, the “SH1B” signal at X51 to X60 is maintained for 10 more seconds, in order to brake the spindle/spindles. At the same time, the control tries to reset the PLC outputs. 8
If you are using an additional braking resistor (e.g. UP 110) in connection with an inverter with regenerative power supply, calculate the value to be entered in MP2394.x from the above formula.
8
Calculate for inverters with braking resistors the input value for MP2394.x with the above formula. Note If after entry of a value in MP2390.x or MP2394.x the mechanics are overloaded by the braking process, lower the value in MP2390.x or MP2394.x until you have found an optimum between braking time and mechanical loading.
September 2006
MP2390.x Input:
Maximum braking power 0: No limiting of the braking power in an emergency stop 0.001 to 3000.000 [kW]
MP2394.x Input:
Maximum braking power during a power fail 0: No limiting of the braking power in a power failure 0.001 to 3000.000 [kW]
The Control Loop
6 – 225
6.8.8 Power and Torque Limiting You can limit the power of your spindle motor to achieve wider gear ranges. Wide-range motors are characterized by a larger speed range with higher torque at low speed. One solution for bringing about this behavior is to use an oversized motor, and to limit the maximum power. However, power limiting does not reduce the high torque to the speed at which power limiting becomes effective. This high torque (until power limiting takes effect) can be reduced with torque limiting, in order to keep the mechanics of the machine from becoming overloaded. With torque limiting you can also limit the torque of the axis motors, in order to keep the mechanics of the machine from becoming overloaded. Power limiting is not useful for axis motors. For axes and spindles, the torque is limited to the value taken from either the table of power modules or the motor table, whichever is lower. On supply units where the ERR.IZ.GR signal is available, the power of the spindle is limited via MP2392.x in case of error (not for axes). HEIDENHAIN recommends activating this monitoring function via MP2220.x bit 2 (not with UE 2xx). The torque can be calculated for any speed: M
P ⋅ 60 = ---------------n⋅2⋅π
M: Torque [Nm] P: Power [W] n: Speed [rpm] Note The power and torque limiting can have an effect on the braking of the spindle in an emergency stop.
6 – 226
8
Enter the maximum power for the spindle in MP2392.x.
8
Enter the maximum torque for the spindle or axis in MP2396.x.
8
Activate the power limiting of the spindle at ERR.IZ.GR via MP2220.x bit 2 = 0 (not for UE 2xx)
HEIDENHAIN Technical Manual iTNC 530
P
Oversized motor
Power limit Motor with power and torque limiting Normal-sized motor
n M
Oversized motor Motor with power limit
n M Motor with power limit Torque limit
Motor with power and torque limit n
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The Control Loop
6 – 227
6 – 228
MP2220.x Input:
Monitoring functions Bit 2 – Power limit of spindle at ERR.IZ.GR (only for HEIDENHAIN inverters, except UE 2xx) 0: Power limit active 1: Power limit inactive
MP2392.x Input:
Power limit 0: No power limit 0.001 to 3000.000 [kW]
MP2396.x Input:
Maximum torque 0: No torque limiting 0.1 to 30 000.0 [Nm]
HEIDENHAIN Technical Manual iTNC 530
Module 9158 Maximum torque With Module 9158 you can limit the torque of an axis or spindle. The maximum torque resulting from the data in the control’s motor table cannot be exceeded. In this case the torque is limited to the value from the motor specifications. After the drive is switched off, the original torque becomes effective again. If torque limiting is active, the standstill monitoring is inactive; only the motion monitoring remains active. The torque-producing current required for the desired torque must be transferred to the module: Synchronous motor
Asynchronous motor Armature control range (n < nFS)
PN k M = ------------------------------nN I N ⋅ 2 ⋅ π ⋅ -----60 Iq
=
2
2
M ⋅ nN ⋅ 2 ⋅ π ⋅ IN – I0 I q = -------------------------------------------------------------P N ⋅ 60
Field weakening range (n > nFS)
M ---kM
2
2
M ⋅ nN ⋅ n ⋅ 2 ⋅ π ⋅ IN – I0 I q = ---------------------------------------------------------------------P N ⋅ n FS ⋅ 60
Iq: Torque-producing current M: Desired torque kM: Torque constant nN: Rated speed (from motor table) IN: Rated current (from motor table) PN: Rated power output (from motor table)
Iq: Torque-producing current M: Desired torque nN: Rated speed (from motor table) n: Current speed IN: Rated current (from motor table) I0: No-load current (from motor table) PN: Rated power output (from motor table) nFS: Threshold speed for field weakening (from motor table)
Danger If Module 9158 is used, then certain monitoring functions regarding the drives must be switched off. Please note the following error messages and their possible consequences (see DSP error messages) C380 Motor not controllable C3B0 Motor does not rotate Warning If you are using a CC 422 controller unit, then please note that the current values in the oscilloscope are all peak values (and not effective values as with the CC 424). Measured values then appear greater by a factor of the square root of 2 than the calculated values.
September 2006
The Control Loop
6 – 229
Call: PS
PS CM
B/W/D/K/S 0 to n: Axis 1 to axis n + 1 15: Spindle B/W/D/K/S –1 = Torque given in motor specifications 9158
Error recognition: Marker
Value
Meaning
M4203
0
Torque preset active
1
Error code in W1022
W1022
6 – 230
1
0 Nm torque transferred
2
Invalid axis number
24
Module was called in a spawn job or submit job
HEIDENHAIN Technical Manual iTNC 530
6.8.9 Weakened Field Operation General information
Asynchronous motors are usually operated with a weakened field. This operating mode can become necessary for synchronous motors if the present inverter voltage does not suffice for the require rotational speed. Typical applications for this operating mode are high-speed synchronous spindle motors and torque motors that are operated far beyond the rated speed. For synchronous drives the operation with a weakened field is automatically activated if MP2160.x = 1 has been entered, and the desired speed makes it necessary. Under certain conditions a voltage protection module must be used. Because of their design, the HEIDENHAIN EcoDyn motors are treated as a special case. They must always be operated with a weakened field, but no voltage protection module is necessary. For HEIDENHAIN EcoDyn motors, MP2160.x = 2 is to be entered. The speed-torque characteristics from the drive manufacturer indicate whether weakened-field operation is necessary. Among other information, they show the possible speeds in combination with the necessary inverter voltage. Note Please note that in general there are other possible settings for weakenedfield operation with the CC 424 (see “Peculiarities in Weakened-Field Operation” on page 7 – 25).
Using the voltage protection module
If the power supply fails during weakened-field operation, and the synchronous drive is running at a high speed at the same time, then the dclink voltage can rise rapidly (generator effect of the drive). If this voltage rises to over 850 V, then inverters and possibly the motor itself can become damaged. Reliable protection against this is offered by a voltage protection module, which short-circuits the motor phases when the trigger threshold of 850 V is exceeded (for example SM 110 or SM 130; see the “Inverter Systems and Motors” Technical Manual). Whether a voltage protection module is necessary for a drive depends on the desired speed, the nominal speed N-N and the no-load voltage U0 of the drive. See the motor table for these values. The following formula calculates the motor speed at which a voltage greater than 850 V would be induced by the generator effect. If the desired motor speed is greater than the one calculated, then the voltage protection module (SM 110 or SM 130) must be used! N max =
September 2006
850 V x Nnoml U0 x 2
The Control Loop
6 – 231
Please refer to the “Inverter Systems and Motors” Technical Manual to see which voltage protection module is needed for which motor types (depending on the maximum phase current of the SM 110 or SM 130). Warning A braking resistor, such as PW xxx or UP 110, does not offer sufficient protection. Setting the weakened-field operation
8
Enter MP2160.x = 0 if you want to operate synchronous motors without a weakened field.
8
Enter MP2160.x = 1 if you want to operate the synchronous motor with a weakened field (check if a voltage protection module must be used).
The EcoDyn synchronous motors from HEIDENHAIN are operated with limited field weakening. No voltage protection module is necessary here. 8
Select from the motor table the motors with the designation QSY1xxx EcoDyn or QSY1xxx EcoDyn EnDat for MP2200.x.
8
Enter MP2160.x = 2 if you are using EcoDyn synchronous motors from HEIDENHAIN.
MP2160.x Input:
6 – 232
Field weakening for synchronous motors 0: No weakened-field operation 1: Weakened-field operation permitted (check if a voltage protection module is necessary) 2: Operation of a HEIDENHAIN EcoDyn motor
HEIDENHAIN Technical Manual iTNC 530
✎
September 2006
The Control Loop
6 – 233
6.9 Offset Adjustment Digital axes: An offset adjustment at the output of the current controller is automatically compensated. Analog axes: The maximum permissible offset voltage in the control is 100 mV. If this voltage is exceeded, the error message EXCESSIVE OFFSET IN appears. 6.9.1 Offset Adjustment with Integral Factor With the integral factor you can adjust an offset automatically: 8
Enter an integral factor in MP1080.x. The speed with which the offset is eliminated depends on the size of the factor.
8
Play in the drives can result in instability in the control loop. In this case, enter the factor zero.
MP1080.x is effective only at a standstill. MP1080.x Input:
Analog axes: Integral factor for offset adjustment Input 0 to 65 535 Digital axes: No function Input: 0
6.9.2 Offset Adjustment by Code Number 8
Activate the offset adjustment with the code number 75 368.
The iTNC displays the offset values of the analog axes in the dialog line. The values show the setting of the voltage in 0.15-mV steps. Display value 10 means: 10 · 0.15 mV = 1.5 mV. The displayed offset value consists of the offset values that are generated in the motor controller and in the control. If the values are to be automatically compensated: 8
Press the ENT key or the CONTINUE soft key. The control outputs a corresponding countervoltage.
If nothing is to be changed: 8
Press the END soft key.
If the offset adjustment is to be switched off again: 8
Enter the code number 75 368 and press the NO ENT key or the CANCEL soft key.
The offset values are saved in the control and remain safe in the event of power interruption. After a control is exchanged, the offset adjustment must be repeated by means of the code number.
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HEIDENHAIN Technical Manual iTNC 530
6.10 Contouring Behavior 6.10.1 Radial Acceleration You can define the radial acceleration of axes in addition to the simple acceleration (MP1060.x): 8
Define the radial acceleration in MP1070.
MP1070 limits the feed rate during circular movement according to the formula: v =
r ⋅ MP1070
v = feed rate during circular movement [m/s] r = radius [m] (of the path of the tool center) HEIDENHAIN recommends: MP1070 = 0.5...1 ⋅ MP1060 If the programmed feed rate is less than that calculated above, then the programmed feed rate becomes effective. MP1070 functions for operation with both following error and feedforward control. MP1070 Input:
September 2006
Radial acceleration 0.001 to 100.000 [m/s2 or 1000°/s2]
Contouring Behavior
6 – 235
6.10.2 Contour Velocity at Corners To comply with a defined tolerance, the iTNC can reduce the tool velocity before machining corners, line-to-arc transitions and arc-to-arc transitions. The control can react to a potential violation velocity tolerance up to 256 blocks in advance. This feature is known as “look-ahead”: 8
Define the permissible tolerance for contour transitions in MP1096.x for movements at the machining feed rate and at rapid traverse. The larger the tolerance, the greater the tool velocity.
The user can overwrite this tolerance with Cycle 32 “Tolerance.” Jerk limitation (see “Interpolator” on page 6 – 162) and nominal-position-value filters enable the iTNC to machine 3-D surfaces at high speed. Prerequisite: The contour must be described with short line segments. To ensure that cutter-compensated outside corners remain exact, a spline must be inserted into the cutter midpoint path instead of a transitional arc. The longer path of the spline (compared to the circle) results in an increased machining time. A spline also has the advantage of reducing the jerk: 8
Enter bit 10 = 1 in MP7680.
Note FN17: SYSWRITE ID1020 NR1 = can be used from the NC program to activate machine parameter subfiles for various machining operations. See 9 – 24. MP1096 Input:
MP1096.0 MP1096.1 MP7680 Input:
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Tolerance for contour transitions at corners 0: No nominal position value filter 0.001 to 3.000 [mm]: Permissible tolerance at contour transitions With machining feed rate With rapid traverse Machine parameter with multiple function Bit 10 – Cutter-radius-compensated outside corners: 0: Insertion of a circular arc 1: Insertion of a spline curve Proposed input value: %xx1xxxxxxxxxx Bit 11 – Reserved
HEIDENHAIN Technical Manual iTNC 530
Rounding of corners
If you program M90, the tool velocity in following-error mode is kept constant at corners without radius compensation. This causes a corner rounding that varies with the feed rate (see the User’s Manual). If you program M112 or M124, defined arcs will be inserted at the corners regardless of the feed rate (see the User’s Manual). The rounding arcs generate twice as many NC blocks, and the feed rate is now only limited by the radial acceleration. 8
With MP7680 bit 7, specify whether the rounding arcs should always be inserted or only if the acceleration from MP1060.x or MP1070 has been exceeded at the corners.
8
With MP7680 bit 8, specify whether a rounding arc or a cubic spline is to be inserted between lines during the M function M112. The feed rate is reduced enough to prevent any excessive jerk. This does not apply if F MAX is programmed. The cubic spline produces an additional jerk reduction. However, it requires a longer processing time than an inserted rounding, and due to the longer path of the spline (compared to the circle), the machining time also increases.
If you have set bit 8, you can specify with bit 9 whether the jerk will remain constant on the spline. The contour speed is adjusted for constant jerk. MP7680 Input:
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Machine parameter with multiple function Bit 7 – Insertion of a defined rounding arc or spline: 0: Defined rounding arcs are always inserted 1: Defined rounding arcs are always inserted if the acceleration from MP1060.x or MP1070 was exceeded. Bit 8 – Insertion of a rounding arc or cubic spline: 0: Rounding arc is inserted. 1: A cubic spline is inserted instead of a rounding arc. Bit 9 – Constant jerk on spline (Bit 8 = 1): 0: No constant jerk 1: Constant jerk
Contouring Behavior
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6.11 Monitoring Functions The NC monitors the axis positions and the dynamic response of the machine. If the fixed values are exceeded, it displays an error message and stops the machine. With W1042 you can switch off the following types of monitoring for individual axes: Position monitoring Standstill monitoring Movement monitoring Nominal speed value monitoring Set W1042
Deactivation of monitoring functions PLC Bits 0 to 8 represent axes 1 to 9
Reset PLC
0: Monitoring functions active 1: Monitoring functions inactive
Warning Safe machine operation is not possible if the monitoring functions are switched off. Uncontrolled axis movements are not detected. If the reaction time of the PLC for switching off the monitoring functions is not sufficient, you must use a high-speed PLC input. High-speed PLC inputs are interrogated within the position control loop cycle: 8
In MP4130.0, enter the number of the PLC input that is to be defined as high-speed PLC input. Note The inputs of the PL 4xxB and PL 510 cannot be used as high-speed PLC inputs.
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8
Define in MP4131.0 the activation criterion for the PLC input specified in MP4130.0.
8
Enable MP4130.0 with W522 bit 0. As soon as the input is set, the monitoring functions are switched off, the axes stopped, and the drive is switched off. If the following error is greater than MP1030.x (positioning window), the actual value is saved as nominal value. The monitoring functions become active again if the high-speed PLC input is reset or MP4130.0 has been disabled with W522 bit 0.
HEIDENHAIN Technical Manual iTNC 530
MP1150.1 Input: MP4130.0 Input: MP4131.0 Input:
W522
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Time period for which the monitoring function is to remain off after the fast PLC input defined in MP4130.0 is set 0 to 65.535 [s] Recommended: 0.2 to 0.5 Number of the high-speed PLC input for switching off the monitoring functions 0 to 255 [no. of the PLC input] The inputs of the PL 4xxB and PL 510 may not be used! Activation criterion for fast PLC input for switching off the monitoring functions 0: Activation at low level 1: Activation at high level
Enabling the high-speed PLC inputs Bit 0: Fast PLC input is defined in MP4130.0 for switching off the monitoring functions
Monitoring Functions
Set
Reset
PLC
PLC
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6.11.1 Position Monitoring The axis positions are monitored by the iTNC as long as the control loop is closed. The input values for position monitoring depend on the maximum possible following error (servo lag). Therefore the input ranges for operation with following error and velocity feedforward are separate. For both modes of operation there are two range limits for position monitoring. If the first limit is exceeded, the error message EXCESSIVE SERVO LAG IN appears. The machine stops. You can clear this message with the CE key. An actual-to-nominal value transfer is then executed for the respective axes. If the second limit is exceeded, the blinking error message EXCESSIVE SERVO LAG IN appears. The control-is-ready signal output is reset. You cannot clear this message. You must restart the control to correct the error. 8
In the machine parameters given below, define two range limits for position monitoring in each operating mode.
8
Adjust the input values to the machine dynamics.
If blocked axes are the cause of the erasable error message EXCESSIVE SERVO LAG IN , a nominal velocity value may freeze, since the machine axes can no longer be moved:
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8
In MP1150.0, specify the time after which the nominal velocity value is to be deleted. After this time has expired, the actual position value is assumed as nominal position value. Before this time has expired, the error message cannot be cleared with the CE key. At this time the actual position value is assumed as nominal value, and the nominal velocity value is deleted.
8
In MP1150.1, enter the time period for which the monitoring function is to remain off after the fast PLC input from MP4130.0 has been set. The monitoring functions reactivate after expiration of this time.
8
In MP1150.2, specify the minimum time period after expiration of the time from MP1150.1 for which the monitoring functions should remain effective (e.g. if the input changes quickly).
HEIDENHAIN Technical Manual iTNC 530
OFF
MP1150 MP1150.0 Input: MP1150.1 Input:
MP1150.2 Input: MP1410.x Input: MP1420.x Input: MP1710.x Input: MP1720.x Input:
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Position monitoring Delay time for deleting the nominal velocity value with the deletable error message: Excessive servo lag in 0 to 65.535 [s] Recommended: 0 Time period for which the monitoring function is to remain off after the fast PLC input defined in MP4130.0 is set. 0 to 65.535 [s] 0: Monitoring functions on Recommended: 0.2 to 0.5 Minimum time period for which the monitoring functions are to remain effective after expiration of the time from MP1150.1. 0 to 65.535 [s] Position monitoring for operation with velocity feedforward control (erasable) 0.0010 to 30.0000 [mm] Recommended: 0.5 mm Position monitoring for operation with velocity feedforward control (EMERGENCY STOP) 0.0010 to 30.0000 [mm] Recommended: 2 mm Position monitoring for operation with following error (erasable) 0.0000 to 300.0000 [mm] Recommended: 1.2 · following error Position monitoring for operation with following error (EMERGENCY STOP) 0.0000 to 300.0000 [mm] Recommended: 1.4 · following error
Monitoring Functions
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Difference between position at switchon and shutdown
When the control is switched off, the actual position of the axes is saved with an absolute encoder. During switch-on it is compared with the position values read by the encoder. If the positions differ by more than the difference defined in MP1146.x, a popup window appears with both positions. The new position must be confirmed with a soft key. If it is not confirmed, the error message Check the position encoder appears.
Special case: Multiturn version of an absolute encoder The control internally stores an overflow (more than 4096 revolutions of the encoder). In addition, the number of sectors traversed is stored (1 sector = 256 revolutions). After the drives are switched on, the current sector is compared to the stored sector.
Switch-off position in this sector Error!
Error!
1sector (= 256 revolutions) If at switch-on the motor is more than two complete sectors away from the switch-off position (more than the sector after next), then immediately after the drives are switched on the Switch-off pos. unequal ENDAT error message appears. Warning The error must then be corrected! After the control has been restarted, it is assumed that the number of revolutions is correct again. The pop-up window may appear, stating that the positions at switch-on and shutdown differ by more than MP1146.x. If the motor is located at the correct position, you can confirm the message with the YES soft key. MP1146.x Input:
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Difference between the position at shutdown and the position read in via the EnDat interface 0.0000 to 300.0000 [mm] or [°] 0: No difference permitted
HEIDENHAIN Technical Manual iTNC 530
6.11.2 Nominal Speed Value Monitoring For the axes, the nominal speed value monitoring is effective only in operation with velocity feedforward. For the spindle, it is effective in operation with following error as long as the position control loop is closed (orientation). If the nominal speed value calculated by the position controller is greater than the maximum possible nominal value, the blinking error message NOMINAL SPEED VALUE TOO HIGH appears and the control-is-ready output is reset. Analog axes: Maximum nominal value = 10 V Analog spindle: Maximum nominal value = 20 V Digital axes and spindle: Maximum nominal value = maximum motor speed from motor table 6.11.3 Movement Monitoring Movement monitoring is possible during operation both with velocity feedforward and with following error. During movement monitoring, the actual path traveled is compared at short intervals (several servo cycles) with the nominal path calculated by the NC. If during this period the actual path traveled differs from the calculated path, the flashing error message MOVEMENT MONITORING IN appears. Analog axes: An existing offset during a standstill may cause a potential at the analog output without any resulting positioning movement: 8
In MP1140.x, enter a threshold from which the movement monitoring should go into effect.
Digital axes: There is no offset. 8
In MP1140.x, enter the speed from which the movement monitoring should go into effect.
For digital axes, in addition to the comparison of actual and nominal values, the calculated position from the pulses of the position encoder are compared with the pulses of the speed encoder:
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8
Enter in MP332.x the number of signal periods and in MP331.x the path for the number of signal periods (”Encoders” on page 7 ).
8
Enter the distance per motor revolution in MP1054.x. A formula can also be entered in MP1054.x.
8
In MP1144.x, enter a limit value for this position difference. If you are not using a position encoder, you must enter 0 in MP1144.x as the position difference.
Monitoring Functions
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If the difference is greater than the input value from MP1144.x, the error message MOVEMENT MONITORING IN B appears. Warning If you enter the maximum value in MP1140.x or MP1144.x, no movement monitoring is active. Safe machine operation is not possible without the movement monitoring function. MP1140.x Input:
Threshold above which the motion monitoring functions Analog axes: 0.030 to 10.000 [V] Digital axes: 0.030 to 10.000 [1000 rpm] Recommended: 0.030 [1000 rpm]
MP1054.x Input:
Distance of one motor revolution [mm or °] Analog axes: Nonfunctional Digital axes: Entry of a formula possible, see “Special case: Entering a formula” on page 4 – 6
MP1144.x Input:
Motion monitor for position and speed Analog axes: Nonfunctional Digital axes: 0 to 99 999.999 [mm] 0: No monitoring
6.11.4 Standstill Monitoring Standstill monitoring is effective during operation both with velocity feedforward and with following error, as soon as the axes have reached the positioning window. If the position difference is greater than the value defined in MP2800.x, the blinking error message STANDSTILL MONITORING IN appears. The message also appears if, while moving to a position, an overshoot occurs that is larger than the input value in MP1110.x, or if the axis moves in the opposite direction when beginning a positioning movement: 8
In MP1110.x, enter a threshold from which the standstill monitoring should go into effect.
MP1110.x Input:
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Standstill monitoring 0.0010 to 30.0000 [mm]
HEIDENHAIN Technical Manual iTNC 530
6.11.5 Positioning Window The positioning window defines the limits within which the control considers a position to have been reached. After the position has been reached, the control begins running the next block. The position controller can correct a disturbance inside this window without activating the “Return to the Contour” function. 8
In MP1030.x, define the size of the positioning window.
MP1030.x Input: Axes in position
Positioning window 0.0001 to 2.0000 [mm]
Once the axes have moved into the positioning window, the corresponding bits are set in W1026. This also applies to the status after the machine control voltage is switched on. Axes that are not used are considered to be in position. The NC resets the bits as soon as you start a positioning movement or traverse the reference marks. In the ELECTRONIC HANDWHEEL mode of operation the bit for the current handwheel axis is reset. On contours that can be machined with constant surface speed, W1026 is not set.
W1026
Axes in position Bits 0 to 8 represent axes 1 to 9
Set
Reset
NC
NC
0: Axis not in positioning window 1: Axis in positioning window
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Monitoring Functions
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Axes in motion
During axis movement, the NC sets the corresponding bits in W1028.
W1028
Axes in motion Bits 0 to 8 represent axes 1 to 9
Set
Reset
NC
NC
0: Axis not in motion 1: Axis in motion
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6.11.6 Monitoring of the Power Supply Unit The rectified supply voltage of the power supply unit is monitored. The supply voltage must lie within a defined range (400 V +/– 10%). If this is not the case the power supply unit reports an AC fail (PF.PS.AC). At the same time, the dc-link voltage is monitored: If approx. 760 Vdc (UV 120, UV 140, UV 150, UR 2xx: approx. 800 V) is exceeded, the NC revokes the pulse release (reset) for the IGBT of the power module. The motors coast out of loop to a stop. No energy is returned to the dc link. If the dc-link voltage falls below approx. 385 Vdc (UV 120, UV 140, UV 150. UR 2xx: approx. 410 V), the power supply unit reports a powerfail (signal PF.PS.ZK) If the dc-link voltage falls below approx. 155 Vdc (UV 120, UV 140, UV 150, UR 2xx, UV 105: approx. 200 V), the control is reset (signal RES.PS). Below approx. 135 Vdc (UV 120, UV 140, UV 150, UR 2xx, UV 105: approx. 180 V), the power supply unit switches off. The UV 105 power supply unit reports a powerfail if the dc-link voltage is less than approx. 385 V and the supply voltage is less than approx. 330 V. 8
With MP2150, you define which inverter signal is to trigger the Powerfail on the control.
Inverter signal
Meaning
AC fail (PF.PS.AC)
Failure of supply voltage for inverter
Power fail (PF.PS.ZK)
dc-link voltage failure
Since the AC fail is reported to the control before the powerfail, the control has more time to react to the subsequent dc-link voltage failure. Note Only specific HEIDENHAIN power supply units provide the AC-fail signal (see the Technical Manual for “Inverter Systems and Motors”). If you are using power supply units that do not provide this signal, you must not select the AC-fail signal in MP2150. If a power fail is triggered on the control, all drives are brought to a controlled stop. The PLC outputs are switched off and the control freezes to ensure that the hard disk can no longer be accessed. The control must be turned off and on again. MP2150 Input:
September 2006
Powerfail signals on the control 0: AC fail 1: Power fail and AC fail 2: Reserved 3: Powerfail
Monitoring Functions
6 – 247
Module 9167 Monitoring of dc-link voltage With this module you can switch the dc-link voltage monitoring for powerfail (UZ < approx. 385 V or 410 V) on and off. If you don’t call the module during the first PLC run-through, the supply voltage monitoring is automatically started after the first PLC run-through. Call: PS
CM PL
B/W/D/K 0: DC-link voltage monitoring off 1: DC-link voltage monitoring on 9167 B/W/D 0: Command executed –1: Transferred parameter invalid
Error recognition: Marker
Value
Meaning
M4203
0
DC-link voltage monitoring on or off
1
Error code in W1022
2
Transferred parameter invalid
W1022
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HEIDENHAIN Technical Manual iTNC 530
6.11.7 Temperature Monitoring Temperature of the MC 42x(B)
The internal temperature of the MC 42x(B) is continuously monitored. At about 55 °C the temperature warning TNC temperature warning appears. If the temperature does not fall below 55 °C, the warning is reactivated after two minutes. Beginning at about 60 °C the error message TNC temperature too high °C appears and an emergency stop is triggered. If the machine is switched on again and the temperature does not go below 60 °C, the error message is reactivated after about 10 to 20 seconds. The temperature of the MC 42x(B) can be found with Module 9133. Module 9133 Output of hardware information Call: PS B/W/D/K 0: Internal temperature sensor in [°C] 1: Temperature CPU1 (basic PCB) in [°C] 2: Temperature CPU2 (additional PCB) in [°C] 3: Voltage of buffer battery in [mV] 4: 5-V supply voltage of main board 5: 3.3-V supply voltage 6: Shaft speed of the housing fan CM 9133 PL B/W/D Error recognition:
Motor temperature
Marker
Value
Meaning
M4203
0
Value was determined
1
Error code in W1022
W1022
2
Invalid number given
8
No second CPU present (for number 2)
To measure the motor temperature, a KTY 84 must be connected at pins 13 and 25 of X15 to X20, X80 to X83. The temperature value is ascertained at least once per second. The maximum permissible motor temperature is taken from the motor table. As soon as the given temperature is exceeded, the blinking error message MOTOR TEMPERATURE TOO HIGH appears and the drives are automatically switched off. Module 9165 Sample the current motor temperature Appropriate measures can be taken before the motor reaches the maximum temperature. Call: PS
CM PL
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B/W/D/K 0 to n: Axes 1 to n+1 15: Spindle 9165 B/W/D Range: 0 to 255 °C
Monitoring Functions
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Error recognition:
Temperature of the power module’s heat sink
Marker
Value
Meaning
M4203
0
No error
1
Control has no current controller
At X51 to X60 the temperature warning signal is available at pin 10a. If the permissible temperature of the heat sink on the power module is exceeded, this signal is reset. Warning To avoid destroying the power module, the drives must be brought immediately to a standstill after a temperature warning. Data on maximum permissible temperatures are available from the manufacturer of your power module. The temperature warning signal is not evaluated in the NC: 8
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Use Module 9160 or 9066 to interrogate the temperature warning, and take appropriate measures.
HEIDENHAIN Technical Manual iTNC 530
6.11.8 Internal Power Supply and Housing Fan Via the PLC you can capture and evaluate the current values of the internal power supply and the speed of the housing fan. The permanent speed monitoring (speed > 1500 rpm) of the housing fan of the MC/CC can be switched off with MP4020 bit 13. Module 9133 Output of hardware information Call: PS B/W/D/K 0: Internal temperature sensor in [°C] 1: Temperature CPU1 (basic PCB) in [°C] 2: Temperature CPU2 (additional PCB) in [°C] 3: Voltage of buffer battery in [mV] 4: 5-V supply voltage of main board in [mV] 5: 3.3-V supply voltage in [mV] 6: Shaft speed of the housing fan in [rpm] CM 9133 PL B/W/D Error recognition: Marker
Value
Meaning
M4203
0
Value was determined
1
Error code in W1022
W1022
2
Invalid number given
8
No second CPU present (for number 2)
MP4020 Format: Input:
PLC functions %xxxxxxxxxxxxxx Bit 13 – Monitoring the housing fan of the MC/CC 0: Monitoring active 1: Inactive
6.11.9 I2t Monitoring General information
HEIDENHAIN inverter systems feature individual I2t monitors, one for each power module and motor.
Function
An I2t monitor calculates and supervises the temperature pattern in a thermal motor or power-stage model during operation. The active current, the rated or stall current, (multiplied by MP2302.x for motors and by MP2304.x for power modules) and a device-specific temperature model are the basis for calculation. A first-order temperature module is available for monitoring power modules, first and second-order modules are available for motors. These modules make it possible to permanently calculate the temperature of the stator winding in the motor or the semiconductor in the power module.
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Monitoring Functions
6 – 251
Temperature model in an example comparison (motor) T [°C]
200 180 160 140 120 100 80 60 40 20 0
0
100
200
300
400
500
600
700
800
900
1 000
First-order temperature model Second-order temperature model Motor temperature
t [s]
The I2t monitor responds if this calculated temperature exceeds a certain limit. Because temperature increase and heat dissipation are uneven when the motor is stationary or moving slowly, the I²t monitor distinguishes between standstill and traversing mode. This limit range is defined in a motor table or power module table. The following entries are important: F-AC (transition frequency in traversing mode [Hz]) F-DC (transition frequency at standstill [Hz]; only CC 424)
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Fundamentals
The following graphics illustrate these parameters in relation to the reference voltage. Remember here that CC 422 and CC 424 may have different parameters. For the CC 422, no difference is made between F-DC and F-AC. Instead, F-AC is used as a rigid limit frequency for the transition between standstill and traversing mode. With the CC 424 it is possible to use an interpolated current range for the transition from standstill to traverse. This allows a more exact calculation of the temperature model. If there is no stall torque value given in the motor table, the following model of current (with respect to the rated current) is used to calculate the temperature in the motor. The factors for MP 2302.x and MP 2304.x are not yet taken into account.
I rated [%] 100 Limit frequency through interpolation for the CC 424
70.7
Direct transition with CC 422 (F-AC)
F-DC
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F-AC
Rated speed
Monitoring Functions
n
6 – 253
If the stall current value is given in the motor table, the following model of current (with respect to the stall current) is used to calculate the temperature in the motor. This is only used for synchronous motors, however. For asynchronous motors the above model of current applies, which is used if no stall current is given. For synchronous motors, the factors from MP 2302.x and MP 2304.x are not yet taken into account in the following description.
Io [%] Direct transition with CC 422 (F-AC) 100
I rated 70.7 Limit frequency through interpolation for the CC 424
F-DC
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F-AC
Rated speed
n
HEIDENHAIN Technical Manual iTNC 530
Commissioning and evaluation
Limit values
8
In MP2302.x, enter the factor for the I2t monitoring of the motor. The input value is a factor for the reference current (1 = 100% of the motor’s standstill current or rated current). If you enter zero, the I2t monitoring for the motor (not for the power supply unit) is switched off.
8
In MP2304.x, enter the factor for I2t monitoring of the power module. The input value is a factor of the power module’s rated current (1 = 100%). If you enter zero, the I2t monitoring for the power module (not for the motor) is switched off.
8
All required entries for calculation of a temperature model have to be available in the motor table or power module table. See “Temperature models” on page 257.
8
Use Module 9160 to interrogate the I2t monitoring (see “Interrogation through the PLC module” on page 6 – 256).
The limit values for the I2t value (dimension for the permissible temperature in the device [%]) are handled by the NC side of the control and are composed of the following: Value exceeds 100%: An axis-specific I2t early warning is sent to the PLC (for evaluation and possible countermeasures such as reduction of the feed rate with error message by PLC program with the aid of PLC Module 9160). If the value does not exceed 110% and falls below 90%, the axis-specific early warning is reset. 110%: An NC stop is triggered and the drives are switched off. Note In the oscilloscope you can display the current value of the I2t monitoring of the motor and power module, as well as the current load of the drive. Motor overload with I2t monitoring
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Monitoring Functions
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Machine parameters
Interrogation through the PLC module
MP2302.x Input:
Factor for I2t monitoring of motor 0 to 1000.000 [· rated or stall current of the motor] 0: I2t monitoring of motor switched off 1: Rated or stall current is reference value
MP2304.x Input:
Factor for I2t monitoring of the power module 0 to 1000.000 [· rated current of power module] 0: I2t monitoring of power module switched off 1: Rated current of power module it reference value
Module 9160 Status request from temperature monitoring and I2 monitoring The I2t monitoring reported by the module is given with respect to the first I2t monitor response (power stage or motor), if both I2t monitors are activated (MP2302.x, MP2304.x). This early warning is withdrawn as soon as the limit for reset is reached. For the response behavior, see “Limit values” on page 6 – 255. Call: CM PL
9160 D
PL
D
Bit 15876543210 Axis:Sxxxxx987654321 Bit 15876543210 AxisSxxxxx987654321
Error recognition:
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Marker
Value
Meaning
M4203
0
No error
1
Control has no current controller
HEIDENHAIN Technical Manual iTNC 530
Temperature models
The temperature model of the motor or power module is defined by the entries in the motor table or power module table, respectively (motor.mot, motor.amp). Remember that calculation of which temperature model to use depends exclusively on the availability or nonavailability of the parameters. In addition, the parameters for motors and power modules are to be evaluated separately. These parameters are explained below using the respective temperature model for the calculation.
Temperature model, first order
The following values (entries in the motor table or power module table) are required for the first-order temperature model to calculate the temperature. F-DC [Hz]: This parameter is not evaluated for the CC 422. Lower limit frequency for the transition of traverse to standstill with the CC 424. F-DC = 0 – Default value (0) is active F-DC > 0 – Input value in Hz is active T-DC [s]: Thermal time constant for operation at standstill (not evaluated at present) F-AC [Hz]: Upper limit frequency for the transition from standstill to traverse. F-AC = 0 – Default value (0) is active F-AC > 0 – Input value in Hz is active T-AC [s]: Thermal time constant for the motor or power stage. Identifies the point in the temperature curve at which 63% of the maximum temperature is reached. T-AC = 0 – Default value: 10 s for axes, 150 s for ball screw T-AC > 0 – Input value [s] for power modules. From motors, this input value is active if Tth2 = 0. Only for motors Tth2 [s]: Thermal time constant for the motor. Identifies the point in the temperature curve at which 63% of the maximum temperature is reached. Tth2 = 0 – Default value: 10 s for axes, 150 s for ball screw Tth2 > 0 – Input value [s] for motors
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Monitoring Functions
6 – 257
First-order temperature model of the motor
KTY
P
Cth2
Rth2
P: Heat output of the three phases KTY: KTY temperature sensor in the winding Cth2: Thermal capacity of the motor housing Rth2: Thermal resistance on the motor housing Tth2: Thermal time constant Rth2 · Cth2
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Temperature model, second order
The following values (entries in the motor table or power module table) are required for the second-order temperature model to calculate the temperature (default values [axis/spindle] are valid for the entry “0”): F-DC [Hz]: This parameter is not evaluated for the CC 422. Lower limit frequency for the transition of traverse to standstill with the CC 424. F-DC = 0 – Default value (0 Hz) is active F-DC > 0 – Input value in Hz is active T-DC [s]: Thermal time constant for operation at standstill (not evaluated at present) F-AC [Hz]: Upper limit frequency for the transition from standstill to traverse. F-AC = 0 – Default value (0 Hz) is active F-AC > 0 – Input value in Hz is active Tth1 [s]: Thermal time constant for the transition from winding to housing Tth1 = 0 – Default value (0 s) is active Tth1 > 0 – Input value in s is active Rth1 [K/W] Thermal resistor for the transition from winding to housing. Rth1 = 0 – Default value: 0 K/W Rth1 > 0 – Input value in K/W is active Tth2 [s]: Thermal time constant for the transition from housing to coolant Tth2 = 0 – Default value: 10 s for axes, 150 s for ball screw Tth2 > 0 – Input value in s is active Rth2 [K/W]: Thermal resistance for the transition from winding to coolant Rth2 = 0 – Default value: 0 K/W Rth2 > 0 – Input value in K/W is active When the CC starts up, the current motor temperature (KTY sensor) is taken into the calculation model in order, for example, to compensate any excessive temperatures. Note All parameters have to be entered for the model to become active. If a parameter is missing, the first-order temperature model becomes active, either with the thermal time constant “Tth2” or with “T-AC.”
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Monitoring Functions
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Second-order temperature model of the motor
KTY
Tth1 Tth2 Rth1 Rth2
P
Cth1
Cth2
P: Heat output of the three phases KTY: KTY temperature sensor in the winding Cth1: Thermal capacity of the winding Cth2: Thermal capacity of the housing Rth1: Thermal resistance winding/housing Rth2: Thermal resistance housing/coolant Tth1= Rth1 · Cth1 Tth2= Rth2 · Cth2 Compatibility
Old motor tables of the iTNC530 are also usable in newer software versions. If the columns/parameters in the temperature models are missing, however, it is of course impossible to calculate a second-order temperature model. In such a case the entries F-DC, T-DC, F-AC, T-AC are used for a first-order temperature model. If this model, too, has no entries (entries “0”), the default values of the above temperature models apply.
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6.11.10 Read Actual Utilization of Drive Motors Module 9166 provides the momentary utilization of the given drive motor as a percentage value. Utilization means: Speed range
nact ≥ nN
nact < nN
Asynchronous motor
⏐M⏐
⏐P⏐
⏐Mrated⏐
⏐Prated⏐
Synchronous motor
⏐M⏐
–
⏐Mrated⏐ Instead of the drive torque, one uses the effective component Iq of the current, which is proportional to the torque. IqMean is formed as mean value of the individual current values Iqx of the last 20 ms: Σ(Iq1 ... Iqn) IqMean = n IqMean Utilization = 100 % ⋅
IqRated
⋅ MP2312.x
For asynchronous motors: 2
IqRated =
I N – I mag
2
IN: Rated current of motor Imag: Magnetizing current For synchronous motors: IqRated = Normally the utilization display of synchronous motors is with respect to the rated torque (M/Mrated). If the utilization display is to be with respect to the stall torque (M/M0), because for example M0 and MRated are very different, then this must be adapted via MP2312.x. In this case you must set MP2312.x = I0/IRated.
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Module 9166 Momentary utilization of the drive motor The evaluation through MP2312.x is already calculated in the utilization of the drive motor. Call: PS
CM PL
B/W/D/K 0 to n: Axes 1 to n+1 15: Spindle 9166 B/W/D
Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Control has no current controller
MP2312.x Input:
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Factor for utilization of motors 0 to 1000.000 0: Factor = 1
HEIDENHAIN Technical Manual iTNC 530
6.11.11 Determining the Current Torque of a Drive With Module 9170 you can determine the averaged, maximum and minimum torque of a drive. The information about the torque utilization always refers to the values determined between two PLC cycles. The momentary torque is returned in tenths of per cent of the nominal torque. Example: For the first axis (e.g. X axis and QSY 190D EcoDyn with MN of 23.0 Nm), an averaged torque of 281 is determined via Module 9170. 23.0 Nm 6.46 Nm = ------------------------ x 281 1000 M rated M act = --------------------- x Value Modul9170 1000 Module 9170 Finding the current torque Call: PS B/W/D/K 0 to 13 and 15: Axes 1 to 14 and the spindle PS B/W/D/K 0: Torque value in tenths of per cent of the nominal torque CM 9170 PL B/W/D PL B/W/D PL B/W/D Error recognition: Marker
Value
Meaning
M4230
0
Torque value determined
1
Error code in W1022
W1022
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1
Invalid mode
2
Invalid axis number
Monitoring Functions
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6.11.12 Status of HEIDENHAIN Inverters With Module 9066, the status information of the HEIDENHAIN supply unit can be determined. Module 9066 Status of HEIDENHAIN supply unit Call: PS B/W/D/K 0: HEIDENHAIN supply unit CM 9066 PL B/W/D Bit 0: Nonfunctional Bit 1: DC-link voltage too high (ERR.UZ.GR) Bit 2: Heat sink temperature too high (ERR.TEMP) Bit 3: Short-circuit of a motor phase with UZ (AXISFAULT) Bit 4: DC-link current too high (ERR.IZ.GR) Bit 5: Power supply unit not ready (RDY.PS) Bit 6: Leakage current too high (ERR.ILEAK) Error recognition: Marker
Value
Meaning
M4203
0
Status has been read
1
Error code in W1022
W1022
2
Invalid code
24
Module was called in a spawn job or submit job
The HEIDENHAIN power supply units have several status signals which lead to error messages on the control. MP2195 is used to suppress the error message for each status signal. HEIDENHAIN does not recommend suppressing the error messages from the power supply units. If you are using a UE 2xx, the signals must be suppressed because the UE 2xx compact inverter does not provide these signals. Status signals that are already inactive during control power-up
The handling of status signals from HEIDENHAIN power supply units, which are already inactive during control start-up, varies depending on MP2195 bit 0: MP2195 bit 0 = 0: Missing signals cannot be detected with Module 9066 and do not result in an error message when the drive is switched on. MP2195 bit 0 = 1: After the PLC program has been compiled, missing signals can be detected with Module 9066 and trigger an error message when the drive is switched on. Signals that are not provided by the power supply unit must be suppressed with MP2195 (bit 1 to bit 6), because non-existent signals are always identified as errors. Note Signals that change their status during operation are always identified as errors.
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MP2195 Input:
September 2006
Handling of status signals from HEIDENHAIN power supply units Bit 0 – Status signals that are already active during control power-up. 0: Missing signals are ignored 1: Missing signals are evaluated Bit 1– ERR.UZ.GR signal 0: Error message is not suppressed 1: Error message is suppressed Bit 2 – ERR.TMP signal 0: Error message is not suppressed 1: Error message is suppressed Bit 3 – Reserved Bit 4 – ERR.IZ.GR signal 0: Error message is not suppressed 1: Error message is suppressed Bit 5 – RDY.PS signal 0: Error message is not suppressed 1: Error message is suppressed Bit 6 – ERR.ILEAK signal 0: Error message is not suppressed 1: Error message is suppressed Bit 7 – Reserved
Monitoring Functions
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6.11.13 Controlling the Motor Brakes The motor brakes are controlled with the BRK braking signal, which is transmitted to the HEIDENHAIN inverters via the PWM interface (X51 to X62). The corresponding outputs are activated there. See the basic circuit diagrams. Control of the motor brakes via the PWM interface must be deactivated for non-HEIDENHAIN inverters that do not support this function: 8
Set bit 0 = 1 in MP2234.x
The motor brakes are opened no later than 50 ms after the speed controller is switched on. For safety reasons, the controller is not switched off until the braking signal has been output: 8
Enter in MP2308.x the time (overlap time) after which the controller is to be switched off (after the braking signal has been output).
If the inverter sends the RES.PS reset signal, then the BRK braking signals are output immediately upon switch-off of the controllers, i.e. without any overlap time. Activated brakes cause a change in the controlled system. The motor with the changed controlled system is controlled during the overlap time. This can lead to oscillations when the controller is switched off. These oscillations are suppressed by the NC software. MP2220 bit 3 can be used to not suppress the vibrations. HEIDENHAIN does not recommend switching off the suppression of the oscillations. MP2220 Input:
Monitoring functions Bit 3 – Switching off the controller when the motor brakes are activated 0: Suppress oscillations 1: Vibrations are allowed
MP2234.x
Internal triggering of the motor brakes via the PWM interface %xx Bit 0 – 0: Signal is transmitted 1: Signal is not transmitted Bit 1– reserved
Format: Input:
MP2308.x Input:
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Time between output of the braking signal BRK and switching off of the controller (overlap time) 0.001 to 0.500 [s] 0: 0.200 s
HEIDENHAIN Technical Manual iTNC 530
Automatic test of the motor brakes at switch-on
After switching on the drive, but before traversing the reference mark, you can carry out an automated functional test of the motor brake. This brake test only functions in combination with HEIDENHAIN inverter systems and only when using the brake output on X392/X393 if it is wired according to the basic circuit diagram from HEIDENHAIN. For the period of one second, a torque (current) is applied while the brake is active. The path that the axis has moved is then measured. If the permissible path is exceeded, the error message 8130 Motor brake defective appears, and the axis remains controlled. The test is carried out simultaneously for all affected axes. Warning In case of an error, the axis must be moved to a safe position, and physically supported, if necessary. Only then may the machine be switched off so that the defect can be corrected. If no motor current flows while testing the motor brakes, the error message 8140 No current for brake test appears. 8
Enter in MP2230.x a factor for the motor stall current with which the motor brake test is to be carried out. If the test is not to be carried out, or for motors without brakes, enter MP2230.x = 0.
The reference value for the factor from MP2230.x is the stall current I0 entered in the motor table. If I0 in the motor table equals 0, then the rated current I-N from the motor table is used. Recommended input value for MP2230.x: ML MP2230.x ≥ 1.3 ⋅ ---------M0 ML: Maximum load torque of the axis. In a standard case the holding torque of a vertical axis is used here. It is to be ensured via activation of the brake that a vertical axis does not fall down when the drive controllers are switched off. M0: Stall torque of the motor The following basics apply: Torque for motor test ≥ 1.3 ⋅ maximum load torque of the axis Stall torque of the motor ≥ maximum load torque of the axis Holding torque of the motor brake ≥ torque for the motor test Note Please note that when reading the current via the internal oscilloscope, on the CC 422 you are seeing the peak value, and on the CC 424 you are seeing the effective value of the current. Please note that the test torque can only be generated with a certain factor of uncertainty. Factors of influence here are the accuracy of the current sensors and the torque constant of the motor.
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8
Enter in MP2232.x the permissible path that the motor is allowed to move against the brake. If the test is not to be carried out, or for motors without brakes, enter MP2232.x = 0.
MP2232.x must be < MP1110.x so that the standstill monitoring does not activate! Recommended input value for MP2232.x: MP1054.x MP2232.x = 2 ⋅ α ⋅ -------------------------------360° α: Permissible braking angle: Backlash of the motor brake as per the manufacturer specifications (for HEIDENHAIN motors, α ≤ 1°) Example: QSY 155B EcoDyn: M0 = 13 Nm, MBr = 40 Nm ML = 11 Nm 11 Nm MP2230.x ≥ 1.3 ⋅ --------------------- = 1.1 13 Nm MP1054.x (distance per motor revolution) = 20 [mm] α = 1° 20 mm MP2232.x = 2 ⋅ 1° ⋅ ---------------------- = 0.111 mm 360° MP2230.x Input:
Factor for motor current during test of motor brake 0.100 to 30.000 [· motor stall current] 0: No test of motor brakes, or motor without brake Recommended: 1.3 · ML / M0
MP2232.x Input:
Maximum permissible path during test of motor brakes 0 to 10.0000 [mm] or [°]
Module 9143 Activating the brake test The brake test can be activated with PLC Module 9143. It is performed axisspecifically with the settings from MP2230.x and MP2232.x, or with special given values. Call: PS PS PS CM
B/W/D/K 0 to 13 and 15: Axes 1 to 14 and the spindle B/W/D/K Value in 1/1000, 0: Value from MP2230.x B/W/D/K Path in 0.1 μm, 0: Value from MP2232.x 9143
Error recognition: Marker
Value
Meaning
M4203
0
Brake test started
1
Error code in W1022
2
Invalid axis number
W1022
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HEIDENHAIN Technical Manual iTNC 530
6.11.14 EMERGENCY STOP Monitoring On the control there is a PLC output (X41/34) with the designation control-isready, and the associated PLC input for the MC (X42-/4; I3) with the designation control-is-ready-acknowledgement for the EMERGENCY STOP routine. Internal emergency stop
If an internal emergency stop is triggered (e.g. due to standstill monitoring), the iTNC switches the control-is-ready output off (SH1A; responsible watchdog reacts after 10 ms at the latest) the inverter enables off (SH1B; responsible watchdog reacts after the time set in MP2172 (1 to 6 s), and the inverters are now without power. An error message appears and the PLC program is stopped. Depending on the error class, it might be possible that it cannot be cleared with the CE key: 8
Correct the error and restart the switch-on routine.
MP2172 Input:
External emergency stop via MC (I3)
Delay for the SH1B signal (inverter enable) 0 to 6 [s] as an integer 0: 3 [s] Default
If an external emergency stop is triggered via input I3 (“acknowledgment of control-is-ready signal”), the nominal speed value “null” is output via the MC, braking the drives on the intended braking ramp (usually at the limit of current) the EMERGENCY STOP error message is displayed Markers M4177 and M4178 are set by the NC You can clear the error message with CE after switching the machine control voltage back on. The input I3 (“control-is-ready signal acknowledgment”) is passed directly onto the NC; it can not be manipulated by the PLC (I3). Resetting the “control-is-ready signal acknowledgment” inputs leads to position monitoring being shut off for the time defined in MP1150.1, and to an actual-to-nominal value transfer. After the time defined in MP1150.1 has expired, position monitoring is again active, for at least the time defined in MP1150.2. If marker M4580 is set, then instead of the external emergency stop (“control-is-ready signal acknowledgment” input), the control loops of all axes and of the spindle are opened, and an NC stop is performed. Set M4177 M4178 M4580
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Erasable error message is displayed NC Error message EMERGENCY STOP is NC displayed Suppress EMERGENCY STOP, open PLC all position control loops, NC stop
Monitoring Functions
Reset NC NC PLC
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External emergency stop via CC (axis enables)
At the same time, HEIDENHAIN recommends using the “global axis enabling” of the controller unit (CC) via (X42/33; I32) or the axis-specific “axis enables” of the CC via X150/X151, which are also integrated in the external emergency stop. If these are switched off, then when there is an emergency stop of the controller unit (CC) the nominal speed value “null” is output, braking the drives on the intended braking ramp (usually at the limit of current) either after standstill of the drives or at most 10 s (CC 422) or 5 s (CC 424) later, the drive controllers (current and speed controllers) are switched off and SH2 is set.
Testing an internal EMERGENCY STOP
For test purposes, an internal EMERGENCY STOP can be simulated in order to inspect the correct wiring of the machine. The control-is-ready output is reset. The NC and PLC are no longer operable. Danger Hanging axes must be supported before the test in order to prevent damage to the machine in case of error.
Connection diagram
8
Enter the code number FAILTEST under MOD.
8
Acknowledge the message window with the YES soft key in order to carry out the test.
In the event of an error, a drop-off of the control-is-ready output (X41/34) must trigger an emergency stop. The control therefore checks this output every time that line power is switched on. Note The circuitry recommended by HEIDENHAIN is illustrated in the Basic Circuit Diagram. Ensure that the control-is-ready acknowledgment occurs within 1 second.
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Flowchart
X41/34
X42/4 1
2
3
4
5
6
7
8
9
Step
Function
Screen display
1
Waiting for machine control voltage
RELAY EXTERNAL DC VOLTAGE MISSING
2
Recognition of the machine control voltage on X42/4 and switch-off of the control-isready signal on X41/34 by host computer (t < 66 ms)
3
Maximum time within which the control-is-ready acknowledgment on X42/4 must go to zero (t < 1 s)
4
Recognition of the acknowledgment and setting of X41/34 (t < 20 ms)
5
Waiting for machine control voltage
6
Normal control operation. Control voltage was switched on, control-is-ready output and acknowledgment are at “1”.
7
“Control-is-readyacknowledgement” (I3) is switched off via external emergency off switch (set to “0”), for example
8
After switching the machine control voltage on again, the control operates normally.
9
After detecting a fault, the INTERNAL EMERGENCY STOP control switches off the controlis-ready output (X41/34).
If exceeded EMERGENCY STOP DEFECTIVE
RELAY EXTERNAL DC VOLTAGE MISSING
EMERGENCY STOP
As can be seen in the flowchart, after the control-is-ready output (X41/34) is reset by the external emergency stop circuitry, the signal at I3 (X42/4; “control-is-ready-acknowledgment”) is also reset, in order to achieve a controlled standstill. September 2006
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✎
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HEIDENHAIN Technical Manual iTNC 530
6.12 Spindle Two spindles can be controlled alternately (see “Operating a Second Spindle” on page 6 – 303). The main spindle/spindles are controlled with the PLC. The programmed speed can be output as Code via PLC outputs Analog nominal speed command signal for an analog spindle Digital nominal speed value for a digital spindle The spindle functions are of varying priorities. If several functions are output at the same time, the function with the highest priority is run, and the rest are deleted. The following spindle function priorities are valid: 1st Oriented spindle stop 2nd Spindle jog 3rd M3/M4 4th M5 8
Specify in MP3010 the speed output for the spindle.
MP3010 Input:
September 2006
Output of speed, gear range 0: No output of spindle speed 1: Speed code, if the speed changes 2: Speed code at every TOOL CALL 3: Nominal speed value always, G code if the gear shifts 4: Nominal speed value always, G code at every TOOL CALL 5: Nominal speed value always, no G code 6: Same as 3, but with servo-controlled spindle for oriented spindle stop 7: Same as 4, but with servo-controlled spindle for oriented spindle stop 8: Same as 5, but with servo-controlled spindle for oriented spindle stop
Spindle
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6.12.1 Position Encoder of the Spindle Analog and digital spindles can be driven in a closed control loop. In this case the spindle needs its own position encoder: 8
Define the position encoder input in MP111.x. • If you have a digital spindle and would like to use the speed encoder also as a position encoder, then you must set MP111.x = 0.
8
Enter in MP3142 the line count of the encoder to be used. 1-VPP signals undergo 1024-fold subdivision.
8
Enter in MP3142 how the position encoder is mounted on the spindle. Due to the higher required accuracy, the position encoder must be mounted directly on the spindle: MP3143 = 0
If design considerations make this impossible: 8
Define the encoder-to-spindle transmission ratio in MP3450.x and MP3451.x for each gear stage.
In this case there will be several reference pulses per revolution. For example, with a transmission of 4:1 (motor to spindle), you will receive four reference pulses (every 90°) per spindle revolution. 8
Evaluate the reference mark with Module 9220. See “Renewed traversing of the reference marks” on page 6 – 151.
If MP3143 = 1, then X30 pin 1 is evaluated as the reference signal. If MP3143 = 3, then the second signal at X30 pin 1 is evaluated as the reference signal. This can be necessary if the spindle is located shortly before the switch for the reference signal. This might not be detected, and so only the next signal can be evaluated. In both cases the reference mark of the position encoder is not evaluated. In this case the reference signal must be evaluated with Module 9220 (see “Renewed traversing of the reference marks” on page 6 – 151). Warning Due to its low accuracy, this solution is not recommended. If MP3143 = 2, then the reference pulse release for the spindle position encoder is set with X30, pin 1. This ensures that the same reference mark is always evaluated. As soon as a reference mark is traversed, the pulses are counted and immediately after the switch is traversed the “correct” reference mark is calculated. This might mean that the spindle is no longer moved after the switch is passed over. The signal must be available for at least as long as the position controller cycle time + 2 ms. This means that the maximum speed for detecting the signal is: n max
s ⋅ 60000 = -----------------------------------------360 ⋅ ( t Pos. + 2 ms )
s: Trigger window of the switch (10° in the example) tPos.: Position controller cycle time
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The example results in a maximum speed of:
Trigger signal Switch 0°
0°
10°
20°
20° 40°
Ref 0
60°
Motor 20
:
Spindle 17
Note The switch for enabling of the reference mark signal must be adjusted precisely enough for the “correct” reference mark to be evaluated!
n max
MP111 Input:
September 2006
10° ⋅ 60000 ms/min = --------------------------------------------- = 360° ⋅ ( 3 ms + 2 ms )
333 min
–1
MP111.0 MP111.1
Position encoder input for the spindles 0: No position encoder input 1 to 6: Position encoder inputs X1 to X6 35 to 38: Position encoder inputs X35 to X38 Position encoder input for the first spindle Position encoder input for the second spindle
MP3142 Input:
Line count of the spindle position encoder 100 to 30000 [lines]
Spindle
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MP3143 Input:
Mounting configuration of the spindle position encoder 0: Position encoder immediately on the first spindle 1: Position encoder via transmission (ratio in MP3450.x and MP3451.x); X30 pin 1: reference pulse 2: Position encoder via transmission (ratio in MP3450 and MP3451); X30 pin 1: reference pulse release 3: Same as input value 1, except that the second reference pulse is evaluated.
MP3450.0-7 Number of spindle position-encoder revolutions for gear ranges 1 to 8 Input: 0 to 65 535 0: No transmission MP3451.0-7 Number of spindle position-encoder revolutions for gear ranges 1 to 8 Input: 0 to 65 535 0: No transmission Module 9042 Reading the spindle coordinates (format 0.001°) The following coordinate values are saved in five successive double words beginning with the specified target address: Actual value Nominal value Actual value in reference system Following error (servo lag) Distance to go The values for actual, nominal, and reference value are standardized at 0° to +360.000°. The values for servo lag and distance-to-go are displayed between –2879.912° and +2879.912°. Format: 0.001°. If MP3010 < 6 (no closed-loop spindle), then all coordinates are read as zero. During operation under open-loop control (M03 / M04 active or M05 and open position control loop), the nominal value is considered to be the actual value. The following error and distance to go are considered to be zero. Call: PS CM
B/W/D/K 9042
Error recognition: Marker
Value
Meaning
M4203
0
Actual speed value was read
1
Target address is too large or is not a double-word address
Module 9044 Reading the spindle coordinates (format 0.0001°) Call: SEE MODULE 9042.
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6.12.2 Speed Encoder of the Spindle Digital speed control requires a shaft speed encoder: 8
Define the speed encoder input in MP113.x.
The iTNC 530 monitors the reference mark of the speed encoder. The monitor checks whether the line count for one revolution from reference mark to reference mark is equal to the line-count entry in the motor table. If differences occur, the DSP error message C3A0 Incorrect reference position S appears. If this happens, check the speed encoder, encoder cable, and whether you have selected the correct motor. With a gear wheel encoder, even if it is properly installed, monitoring can result in this error message due to its inherent inaccuracy: 8
In this case, switch the monitoring off with MP2220 bit 0 = 1.
The iTNC 530 monitors the direction of rotation. If the nominal value of current exceeds the limit value for a certain time, the DSP error message C380 Motor not controllable appears. At lower speeds, high-frequency spindles only have a low amount of torque. If such a spindle is having its speeds controlled, the tool changer may slightly twist the spindle, causing the limit of current to be exceeded. This leads to the above error message: 8
In this case, switch the monitoring off with MP2221 bit 1 = 1. Warning For axes, monitoring of the rotational direction (MP2220 bit 1) must not be deactivated. An error (e.g. one motor phase interchanged with another or incorrect entry in the DIR column of the motor table) might cause uncontrolled acceleration of the motor in one direction if the monitoring function for the rotational direction is deactivated. This also applies to spindles. For spindles, however, an incorrect acceleration in one direction is less dangerous than for axes. As of NC software 340 420-06, monitoring of the direction of rotation (MP2220 bit 1) for synchronous motors (entry SM in the column TYPE in the motor table) cannot be switched off.
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Spindle
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MP113 Input:
MP113.0 MP113.1 MP2220.x Input:
6 – 278
Speed encoder for the spindle/spindles 0: No speed encoder 15 to 20: Speed encoder inputs X15 to X20 80 to 85: Speed encoder inputs X80 to X85 Speed encoder for the first spindle Speed encoder for the second spindle Monitoring functions Bit 0 – Monitoring the reference mark 0: Monitoring active 1: Monitoring inactive Bit 1 – Monitoring the rotational direction 0: Monitoring active 1: Monitoring inactive
HEIDENHAIN Technical Manual iTNC 530
6.12.3 Analog and Digital Closed-Loop Spindle Control For both analog and digital output of the nominal speed command you can program speeds from 0 to 99 999.999 rpm. 80 000 The maximum controllable spindle speed is . No. of pole pairs If the load increases, the spindle speed is corrected until the maximum current is attained. If the load continues to increase in spite of the maximum current, the spindle speed is reduced. For the maximum current, the value from either the motor table or the power-module table of the drive (whichever is lower) applies. If in MP3010 you have selected the output of the nominal speed value, M4003 is set. The programmed speed is saved in D356, the nominal speed value in W320 and the actual speed value in W322. In addition, the nominal speed value is saved in D364 and the actual speed value in D368, since speeds above 32 767 rpm cannot be represented in words W320 and W322. The PLC double word D372 makes the maximum spindle speed including the spindle potentiometer available to the PLC program. This makes it possible, for example, to already acknowledge within the ramp the M functions for switching on the spindle by comparing the actual and maximum speeds. With D604 you can limit the possible spindle speed through the PLC. To ensure compatibility, D604 is preassigned with 99 999 999 after control switch-on or after an interruption in the PLC scan. Analog spindles: The nominal speed value of the motor is output as an analog dc voltage of ±10 V at connection X8 or X9. Digital spindles: The nominal speed value is transferred to the internal speed controller.
M4003 D356 D364 W320 D368 D372 W322 D604
September 2006
Nominal speed value output analog or digital (MP3010 = 3 to 8) Programmed speed [0.001 rpm] Nominal speed value [rpm] Nominal speed value [rpm] Actual speed value [rpm] Maximum spindle speed including spindle override [rpm] Actual speed value [rpm] Maximum possible spindle speed
Spindle
Set
Reset
NC
NC
NC NC NC NC NC
NC NC NC NC NC
NC PLC
NC NC/PLC
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Nominal speed value
8
In MP3411.x, define the ramp gradient for the nominal speed value at M03 and M04 for each gear range.
8
With MP3412.0, specify a multiplication factor for MP3411.x, for • M05 (MP3412.0) • SPINDLE ORIENTATION (MP3412.1) • TAPPING (with floating tap holder) (MP3412.2) • RIGID TAPPING (without floating tap holder) (MP3412.3) The same factor applies for all gear ranges.
8
Set MP3411 for M03, M04 and M05 such that the motor accelerates and brakes within the current limit.
8
With MP3415, define the overshoot behavior for every operating mode when the spindle is switched on with M4011. Set MP3415.0 so that only one overshoot is visible.
n MP3415.x
MP3411.x MP3412.x
MP3411.x MP3412.x
t MP3415.x
If the nominal speed value is in the acceleration or deceleration ramp, then M4001 is reset. This also applies if the speed is changed with the override potentiometer. If the nominal speed value is output as zero, M4002 is set. MP3411.0-7 Ramp gradient of the spindle with M03 and M04 for gear ranges 1 to 8 Input: Analog axes: 0 to 1.999 [V/ms] Digital axes: 0 to 1.999 [1000 rpm/ms]
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MP3415 Input: MP3415.0 MP3415.1 MP3415.2 MP3415.3
Overshoot behavior of the spindle with M03, M04 and M05 0 to 1000 [ms] With M03, M04 and M05 For oriented spindle stop With tapping With rigid tapping
MP3412 Input: MP3412.0 MP3412.1 MP3412.2 MP3412.3
Multiplication factor for MP3411.x 0.000 to 1.999 With M05 With oriented spindle stop With tapping with floating tap holder With rigid tapping
M4001
Nominal speed command signal of the spindle not in the ramp Nominal speed value = 0
M4002 Direction of spindle rotation
Set
Reset
NC
NC
NC
NC
8
With MP3130, define the polarity of the nominal speed value
8
In MP3140, enter the counting direction of the position encoder signals.
As soon as you set M4005 for M03, or M4006 for M04, the nominal speed value is output. With M4007 for M05, the nominal speed value zero is output (spindle stop). M4005 to M4007 also controls the miscellaneous functions in the status window. If more than one marker is set at the same time, the error message PLC: M4005, M4006, M4007 INCORRECT appears. With M4014 you can reverse the direction of rotation, in order to adjust the transmission for horizontal or vertical spindles, for example. The polarity of the nominal spindle speed is inverted. M4019 reverses the counting direction of the spindle. MP3130 Input:
Polarity of the nominal spindle speed 0: M03 positive, M04 negative 1: M03 negative, M04 positive 2: M03 and M04 positive 4: M03 and M04 negative
MP3140
Counting direction of spindle position encoder output signals 0: Positive counting direction with M03 1: Negative counting direction with M03
Input:
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Spindle
6 – 281
M4005 M4006 M4007 M4014 M4019
Disable speed output for spindle
Reset
PLC
PLC
PLC
PLC
PLC PLC
PLC PLC
PLC
PLC
With M4008 you can block the speed output for the spindle. At the same time, M03, M04 or M05 are highlighted. The nominal speed value is zero.
M4008 Gear ranges
Status display and nominal speed value output for M03 Status display and nominal speed value output for M04 Status display M05 and spindle stop Reverse the direction of spindle rotation Reversing the counting direction of the position encoder on the spindle
Set
Disable speed output for spindle
Set
Reset
PLC
PLC
You can define up to eight gear ranges: 8
In MP3510.x, enter for each gear range the rated speed for “S-override 100%.” Enter the value zero for unnecessary gear ranges.
8
In MP3210.x, enter for every gear range the S analog voltage or motor revolutions at rated speed.
8
In MP3240.1, define the minimum nominal speed value for the motor.
8
In MP3120, define whether zero is permitted as a programmed speed.
If an impermissible speed is programmed, M4004 is set and the error message WRONG RPM is displayed. Note The gear range from W256 is output when the spindle speed is 0.
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MP3510.0-7 Rated speed for the gear ranges 1 to 8 Input: 0 to 99 999.999 [rpm] MP3210.0-7 Analog nominal spindle voltage at rated speed for the gear ranges 1 to 8 Input: 0 to 100.000 [V] MP3210.0-7 Digital spindle motor revolutions at rated speed for the gear ranges 1 to 8 Input: 0 to 100.000 [1000 rpm] MP3240.1 Input:
Analog spindle: Minimum nominal value voltage 0 to 9.999 [V]
MP3240.1 Input:
Digital spindle: Minimum motor speed 0 to 9.999 [1000 rpm]
MP3120 Input:
Zero speed permitted 0: S = 0 permitted 1: S = 0 not allowed
M4004
Gear shifting
Impermissible speed was programmed
Set
Reset
NC
NC
You control the gear shifting through PLC outputs. The NC enters the current gear range according to the programmed speed in W256. The gear range is calculated with MP3510.x. The output of the gear range is defined in MP3010. MP3030 bit 1 determines if the speed should be reduced to 0 when shifting between gears. When the gear range is changed, the NC uses the G strobe (M4070). As soon as you confirm the gear shift with M4090, the program resumes and the G strobe (M4070) is reset by the NC. If a TOOL CALL block is followed by the output of a T strobe and G strobe, then M4547 is set by the output of the T strobe and reset by output of the G strobe. If there is no output of either the T or G strobe, M4547 is not set. In the PLC program you can change the programmed speed and the gear range that is calculated by the NC. This may be necessary, for example, for horizontal/vertical spindles. The programmed speed is saved by the NC in D356 and D756:
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8
Enter a speed in D756 and a gear range in W256. The speed must lie within the speed range of the gear.
8
With M4134, activate your entries in D756 and W256.
8
After the NC has reset M4134, change the gear and report with M4090 that the gear shift has been completed.
Spindle
6 – 283
A changing nominal speed value ramp can be output to shift gears by alternately setting and resetting M4009 and M4010. This can be realized by interrogating the timers in the PLC program. This function also works if you have used M4008 to disable the speed output for the spindle: 8
In MP3240.2, define the nominal speed value that is output with M4009/ M4010 to the spindle motor.
MP3030 Input:
Behavior of the spindle Bit 1– Zero spindle speed when shifting to another gear range 0: Reduce speed to 0 1: Do not reduce speed to 0
MP3240.2
Analog spindle: Spindle jog voltage for gear shifting (M4009/M4010) 0 to 9.999 [V]
Input: MP3240.2 Input:
Digital spindle: Motor speed for gear shifting (M4009/ M4010) 0 to 9.999 [1000 rpm]
Set W256 D356 D756 M4009 M4010 M4070 M4090 M4134 M4547
6 – 284
Gear code NC/PLC Programmed speed [0.001 rpm] NC Programmed speed or speed from PLC NC/PLC [0.001 rpm] Counterclockwise spindle rotation PLC (for gear change) PLC Clockwise spindle rotation (for gear change) Strobe signal for gear code NC Acknowledgment of “gear change PLC completed” Activation of a gear range and speed PLC through the PLC T and G strobes with TOOL CALL NC
Reset NC/PLC NC NC/PLC PLC PLC NC PLC NC NC
HEIDENHAIN Technical Manual iTNC 530
Spindle override
You can change the spindle speed within certain limits with the spindle override potentiometer. 8
Define the limits in MP3310.x.
8
In MP3515.x, enter for every gear range a maximum attainable speed which must not be exceeded with the spindle override.
The percentage adjusted with the spindle override is entered by the NC in W492 and W764. You can change the percentage through the PLC: 8
Enter the desired percentage in W764. As soon as a new value is entered here, it is assumed by the NC.
The spindle override functions either in 1% steps or according to a nonlinear characteristic curve: 8
With MP7620, bit 3, select the mode of the override.
Value range in W492 and W764: 1% steps: 1 to 150 Nonlinear characteristic curve: 0 to 15 000 In the lowest range, 0.01% steps are available. Beginning with a value of 2.5%, the step is 0.75% MP3310.0-1 Input: MP3310.0 MP3310.1
Limitation for spindle speed override 0 to 150 [%] Upper limit Lower limit
MP3515.0-7 Maximum spindle speed for gear ranges 1 to 8 Input: 0 to 99 999.999 [rpm]
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Spindle
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MP7620 Input:
Feed-rate override and spindle speed override %xxxxxxx Bit 3 – Feed rate override and spindle speed override in 1% increments or according to a nonlinear characteristic curve: 0: 1% steps 1: Nonlinear characteristic curve
W492
Percentage for spindle override (NC to PLC) Percentage for spindle override (PLC to NC)
W764
Set
Reset
NC
NC
NC/PLC NC/PLC
Example: Two gear ranges for a digital spindle Gear range I: Spindle 1500 rpm with motor 3000 rpm (MP3210.0 = 3000; MP3510.0 = 1500) Gear range II: Spindle 3000 rpm with motor 4000 rpm (MP3210.1 = 4000; MP3510.1 = 3000) Upper limit for spindle override : 125% (MP3310.0 = 125) Lower limit for spindle override: 50% (MP3310.1 = 50) Maximum possible output speed for gear range II: 3375 rpm (MP3515.1 = 3375) Minimum motor speed: 500 rpm (MP3240.1 = 500)
Motor speed [rpm]
MP3210.1 =4000 MP3210.0 = 3000
MP3240.1 = 500 0
250
750 (50 %)
1500 1875 MP3510.0 (125 %)
Stage 1 50 %
6 – 286
3000 3375 MP3510.1 MP3515.1
Spindle speed [rpm]
125 % Stage 2
HEIDENHAIN Technical Manual iTNC 530
6.12.4 Coded Output of Spindle Speed If you have selected speed-code output in MP3010 (entry 1 or 2), an S code is entered in W258. You must output the speed code to the spindle drive through PLC outputs. If the speed code is changed, the NC sets the S strobe (M4071). If you acknowledge the S code with M4091, the NC program is continued and the S strobe (M4071) is reset by the NC. If required, the programmed spindle speed is rounded off to the next standard value by the NC and given in S code as per ISO 6983 (see S-code table). Speeds of 0 to 9000 rpm are possible: 8
Specify in MP3020 the speed range and the speed increment. The S code for the minimum speed is saved in W1008.
Example: Minimum speed = 1 rpm (S code 20) Maximum speed = 1000 rpm (S code 80) Speed increment = 2: MP3020 = 20802 W1008 = 20 MP3020 Format:
Input:
W258 M4071 M4091 W1008
September 2006
Speed range for S code output xxyyz xx: S code for minimum speed yy: S code for maximum speed z: Speed increment 0 to 99 999
S code Strobe signal for S code Acknowledgment of S code S code for minimum speed
Spindle
Set
Reset
NC NC PLC NC
NC NC PLC NC
6 – 287
S code table
6 – 288
S code
rpm
S code
rpm
S code
rpm
S 00
0
S 41
11.2
S 83
1400
S 01
0.112
S 42
12.5
S 84
1600
S 02
0.125
S 43
14
S 85
1800
S 03
0.14
S 44
16
S 86
2000
S 04
0.16
S 45
18
S 87
2240
S 05
0.18
S 46
20
S 88
2500
S 06
0.2
S 47
22.4
S 89
2800
S 07
0.224
S 48
25
S 90
3150
S 08
0.25
S 49
28
S 91
3550
S 09
0.28
S 50
31.5
S 92
4000
S 10
0.315
S 51
35.5
S 93
4500
S 11
0.355
S 52
40
S 94
5000
S 12
0.4
S 53
45
S 95
5600
S 13
0.45
S 54
50
S 96
6300
S 14
0.5
S 55
56
S 97
7100
S 15
0.56
S 56
63
S 98
8000
S 16
0.63
S 57
71
S 99
9000
S 17
0.71
S 58
80
S 18
0.8
S 59
90
S 19
0.9
S 60
100
S 20
1
S 61
112
S 21
1.12
S 62
125
S 22
1.25
S 63
140
S 23
1.4
S 64
160
S 24
1.6
S 65
180
S 25
1.8
S 66
200
S 26
2
S 67
224
S 27
2.24
S 68
250
S 28
2.5
S 69
280
S 29
2.8
S 70
315
S 30
3.15
S 71
355
S 31
3.55
S 72
400
S 32
4
S 73
450
S 33
4.5
S 74
500
S 34
5
S 75
560
S 35
5.6
S 76
630
S 36
6.3
S 77
710
S 37
7.1
S 78
800
S 38
8
S 79
900
S 39
9
S 80
1000
S 40
10
S 81
1120 HEIDENHAIN Technical Manual iTNC 530
6.12.5 Volts-per-Hertz Control Mode In volts-per-hertz control mode (U/f control mode), the motor is speedcontrolled in an open loop. The motor voltage increases in proportion to frequency up to the break (= threshold rpm for field weakening). Then the motor voltage remains constant (= rated voltage of motor); only the frequency continues to increase. If the spindle reaches the maximum current due to excessive load, the error message C380 Motor not controllable appears. For the maximum current, the value from either the motor table or the power-module table of the drive (whichever is lower) applies. UM
UN
fM
fbreak
The maximum speed in the volts-per-hertz control mode corresponds to the maximum speed in closed loop operation. To drive a motor with a U/f component: 8
In the motor table, enter for your motor in the column Motor model (TYPE) UASM, in the column Encoder line count (STR.) the value 0, in the column Type of encoder (SYS) the value 0 and in the column Maximum temperature [°C] T-MAX the value 255.
8
The machine parameters for current controller (MP24xx.y) and speed controller (MP25xx.y, MP 26xx.y) are nonfunctional.
8
The acceleration and breaking ramp (MP341x) must be set so that the maximum current is not exceeded.
Since during volts-per-hertz (U/f) control mode no speed encoder is used, W322 = 0 (actual speed value) supplies the value 0. 8
Module 9164 can determine the actual speed value while the spindle is running, but not during the acceleration and braking phases. Note The oscilloscope shows the actual current instead of the nominal current (I NOML), since there is no nominal current with U/f components.
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Spindle
6 – 289
6.12.6 Oriented Spindle Stop For spindle orientation the spindle must be in a closed control loop: 8
Mount a position encoder for the spindle.
8
With MP3010 (input value 6 to 8), specify whether the control provides for spindle orientation.
In the NC’s touch probe cycles and rigid tapping cycle, the NC orients the spindle directly. In these cases, the NC sets M4017. You must reset M4012 in the PLC. To orient the spindle to a specific angle in an NC program, use FN17: SYSWRITE ID990 NR8. The conditions above must be followed. The NC program resumes after the spindle is in position (M4000). You can ascertain the current spindle angle with FN18: SYSWRITE ID990 NR8. If the spindle orientation is started with an M function (e.g. M19), you must activate the oriented spindle stop in the PLC. In MP7442, enter the number of the M function (e.g., 19) which will trigger the oriented spindle stop during the machining cycles. If MP7442 = 0 (no oriented spindle stop), the error message ORIENTATION not permitted appears when a cycle which uses oriented spindle stop is called. The spindle orientation runs asynchronously to the NC positioning commands. You may only acknowledge the orientation once the spindle is in position (M4000). The NC starts orienting the spindle only if the drive is switched on with Module 9161. There are three ways to orient the spindle in the PLC: Module 9171 Marker M4130 Via initiator with marker M4011 MP7442 Input:
6 – 290
Number of the M function for spindle orientation in the cycles 1 to 999: Number of the M function 0: No oriented spindle stop –1: Oriented spindle stop by the NC
HEIDENHAIN Technical Manual iTNC 530
Oriented spindle stop with Module 9171
The spindle speed is reduced in open-loop control along the ramp from MP3412.1 to the speed for spindle orientation (MP3520.1). As soon as this speed is reached, the control loop closes. The spindle is oriented in feedback control along the ramp from MP3412.1 to the nominal position. As long as the spindle moves in a closed loop, M4017 remains set: 8
In MP3440.x, assign each gear range a kv factor for adjusting the gear ranges.
8
In MP3415.1, define the overshoot behavior of the first spindle during spindle orientation.
8
Define the positioning window in MP3420. As soon as the spindle is in the positioning window, M4000 is set.
If the spindle should not remain in the position control loop after it reaches the nominal position, then you must set M4012. After the marker is set, the spindle is not feedback-controlled any longer. If M4012 always remains set, the control loop opens after every oriented spindle stop as soon as the positioning window is reached. You can compensate a maladjustment resulting from mounting the rotary encoder: 8
In MP3430, enter the offset between the nominal and actual position of the reference mark. The offset is then compensated during orientation.
After the spindle is switched on, the NC evaluates the reference mark, even if the position control loop is not closed. M4018 is set until the reference mark is evaluated. For special applications you can evaluate the reference mark again by setting M4015. The NC resets M4015 once the reference mark has been evaluated. 8
With MP7291, select the display mode for the spindle position. If M03 and M04 are not active, the display returns to zero every 360 degrees (modulo function).
MP3412.1 Input:
Multiplier for MP3411 during spindle orientation 0 to 1.999
MP3415.1 Input:
Spindle overshoot behavior during orientation 0 to 1000 [ms]
MP3420 Input:
Spindle positioning window 0 to 360.0000 [°]
MP3430
Deviation of the reference mark from the desired position (spindle preset) 0 to 360 [°]
Input:
MP3440.0-7 kv factor for spindle orientation for gear ranges 1 to 8 Input: 0.1 to 10 [(1000°/ min) /°] MP3520.1 Input:
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Spindle speed for oriented stop 0 to 99 999.999 [rpm]
Spindle
6 – 291
M4000 M4012 M4015
Spindle in position Opening the spindle control loop Renewed evaluation of the spindle reference mark Spindle moving in feedback control Reference mark for spindle not yet traversed
M4017 M4018
Set
Reset
NC PLC PLC
NC PLC NC
NC NC
NC NC
With Module 9171 you can specify the speed, nominal position and direction of rotation for spindle orientation. M4130 is set as long as the positioning movement lasts. Module 9171 Oriented spindle stop The module functions only in the cyclic PLC program. If you call the module while the spindle is rotating, the transferred direction will be ignored. The spindle will be oriented in the direction of spindle rotation. If the values 2 to 4 are transferred as direction of rotation, the spindle will be oriented to the angle last defined in CYCL DEF 13. The transferred angle is added to the value from CYCL DEF 13. Call: PS PS PS
CM
B/W/D/K or additional preset if there is a value from CYCL DEF 13 B/W/D/K 0: MP3520.1 is assumed B/W/D/K –1: Negative direction (M04) 0: Direction of the shortest path 1: Positive direction (M03) 2: Same as –1 but angle from CYCL DEF 13 3: Same as 0 but angle from CYCL DEF 13 4: Same as +1 but angle from CYCL DEF 13 5: Incremental procedure with the entered angle. Depending on the algebraic sign given, orientation occurs in either positive or negative direction (+/–). 9171
Error recognition: Marker
Value
Meaning
M4203
0
Spindle is brought to an oriented stop
1
Error code in W1022
1
Incorrect value for direction of rotation or rotational angle
2
Incorrect speed
19
No feedback-controlled spindle
24
The module was called in a spawn job or submit job
27
A spindle orientation is already running
W1022
6 – 292
HEIDENHAIN Technical Manual iTNC 530
Orienting a moving spindle S [rpm] Programmed speed MP3412.1
MP3415.1 MP3412.1
Speed for orientation
MP3440.x 0
t M19
Target position Distance to target position
Orienting a stationary spindle S [rpm] Programmed speed
MP3412.0
Standstill MP3412.1
Speed for orientation
MP3440.x 0
t M05
September 2006
M19
Spindle
Target position
6 – 293
Oriented spindle stop with M4130
You can start the spindle orientation with M4130. The nominal position is taken from D592 and the speed from MP3520.1. The nominal position is with respect to the reference point. For example, the nominal position can be transferred with MP4210.x or taken from the oriented spindle stop cycle (CYCL DEF 13). If the value is taken from the cycle, you must set the MSB of D592 to 1 and the other bits to 0. M4016 is set during execution of Cycle 13. From a standstill, the spindle is oriented on the shortest path. Prerequisite: At the start, the distance between the nominal and actual position must not be greater than the positioning window (MP3420). If the distance is greater than the positioning window, the spindle is positioned according to M4013 with M03 or M04.
D592 M4013 M4016 M4130
Nominal position for spindle orientation Direction for spindle orientation from a standstill (M03 = 0; M04 = 1) Cycle 13 is executed Activation of spindle orientation, or spindle orientation has been started with Module 9171
Set
Reset
PLC
PLC
PLC
PLC
NC PLC NC/PLC NC
MP4210.0-47 Setting a number in the PLC (D768 to D956) Input: –99 999.9999 to +99 999.9999 Oriented spindle stop via proximity switch with M4011
The spindle can be oriented through a proximity switch: 8
Set M4011.
Then the spindle is moved in the direction from M4013 and at the speed from MP3520.0. The spindle is stopped as soon as you reset M4011. The current positioning value is shown in the status window. MP3520.0 Input:
Speed activation through marker M4011 0 to 99 999.999 [rpm] Set
M4011
Offset compensation (only analog spindles)
6 – 294
Activate rotational speed MP3520.0 PLC and direction of rotation from M4013
Reset PLC
After spindle orientation the offset is compensated automatically. In order to give the spindle enough time to settle to a stop, the offset compensation is delayed until the spindle has been in position for at least two seconds. The offset is then compensated in intervals of 0.152 mV per second. The spindle turns slowly due to the offset voltage.
HEIDENHAIN Technical Manual iTNC 530
6.12.7 Tapping with Floating Tap Holder and Nominal Speed Output For tapping with floating tap holder, the position control loop is open. M4030 is set during the tapping cycle. After the spindle is switched on with M03, this is acknowledged with M4092. The nominal spindle speed must be reached before infeed begins. During switch-on, the spindle follows the ramp in MP3411.x. During switchoff, it follows the ramp in MP3412.2: 8
In MP3412.2, enter a multiplier for MP3411 during tapping.
8
In MP3415.2, define the overshoot behavior of the spindle during tapping.
8
Acknowledge the output of the M functions. An NC stop cannot be executed until a previous M function is acknowledged.
If the feed-rate and spindle ramps have differing gradients, the spindle follows the slower ramp. Example: Speed s = 1000 rpm MP3411.x = 0.025 [1000 rpm/ms] –1 1000 min ------------------------------------------------------------------------------- = 40 ms -1 0.025 ⋅ [ 1000 min /ms ] In this example the spindle was braked 40 ms before reaching the hole depth. Delay times permit an optimum adjustment of the floating tap holder. You can delay the switch-off: 8
In MP7120.2 enter a spindle slow-down time.
The delay cannot last longer than 30 ms before reaching the hole depth. Values above 30 ms are ignored (see the diagram). You can delay a subsequent spindle start with M04: 8
In MP7120.0 enter a dwell time. The ramp follows MP3412.2.
You can delay restarting the infeed: 8
Change the programmed dwell time in the cycle.
The NC uses M05 to switch off the spindle. The switch-off ramp follows MP3412.0. Then the spindle is switched back on with M03. The feed-rate override for tapping must be limited. Otherwise the floating tap holder may be damaged: 8
September 2006
Enter a limit in MP7110.x.
Spindle
6 – 295
The following diagram shows the time sequence of the cycle:
F
0 Dwell time from CYCL DEF 2.3 MP7120.2 S
30 ms Software controlled
MP3411.x 0 MP3412.2
MP3412.0
MP7120.0
M03 M05 M04 M4092 (M03) M4005 (M04) M4006 (M05) M4007
M4030
6 – 296
Set
Reset
NC
NC
M4030
Cycle 2 or Cycle 17 active
MP3412.2 Input:
Multiplier for MP3411 during tapping 0 to 1.999
MP3415.2 Input:
Overshoot behavior of the spindle during tapping 0 to 1000 [ms]
MP7110.0 Input:
Minimum for feed-rate override during tapping 0 to 150 [%]
MP7110.1 Input:
Maximum for feed-rate override during tapping 0 to 150 [%]
MP7120.0 Input:
Dwell time for reversal of spindle rotational direction 0 to 65.535 [s]
MP7120.2 Input:
Spindle slow-down time after reaching the hole depth 0 to 65.535 [s]
HEIDENHAIN Technical Manual iTNC 530
6.12.8 Tapping with Floating Tap Holder and Coded Spindle-Speed Output If the spindle speed is output in code, the spindle and feed-rate ramps cannot be synchronized: 8
Enter the advanced switching time of the spindle in MP7120.1.
The dwell time for rotational direction reversal (MP7120.0) and the programmed dwell time have the same effect as the nominal speed value output. The following diagram shows the time sequence of the cycle:
F 0
Dwell time from CYCL DEF 2.3
S 0 MP7120.1
M03
M05 MP7120.0 M04
M4092 M4030
MP7120.1 Input:
September 2006
Advanced switching time of the spindle during tapping with coded spindle-speed output 0 to 65.535 [s]
Spindle
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6.12.9 Rigid Tapping Cycle 17
8
Define the rigid tapping process in the NC program with Cycle 17. While Cycle 17 is running, the iTNC automatically switches the tool axis to velocity feedforward mode.
8
Define the dynamic response of the spindle and the machine tool axes in machine parameters. See “The Control Loop” on page 6 – 158 and “Spindle” on page 6 – 273.
With Cycle 17 the spindle can also be feedback-controlled. This results in a better speed curve: 8
Set MP7160 bit 2 = 1 to drive the spindle under position feedback control with Cycle 17.
The tool axis can track the spindle or it can be interpolated with the spindle. Interpolation can result in higher speed stability of the tool axis. The path jerk (spindle and tool axis) can be set via MP3415.3: a r = --------------------------MP3415.3 Whichever value is smaller from this formula and from MP1090.0 is valid. 8
In MP7160, set bit 4 = 1 to interpolate the tool axis with the spindle.
With small thread depths and excessive spindle speeds it is possible that the programmed spindle speed may not be attained. The immediate transition from the acceleration phase to the braking phase can diminish the quality of the thread: 8
Set MP7160 bit 1 = 1 in order to limit the spindle speed so that the spindle runs for about 1/3 of the tapping time at a constant speed.
During tapping, the position of the tool axis tracks the actual position of the spindle. Please note that the use of acceleration feedforward control for the tool axis makes the tool axis sensitive to fluctuations in spindle speed caused, for example, by gear transmission. If this happens, the tool axis starts to run rough: 8
In MP7160, set bit 3 = 1 to switch off acceleration feedforward control for Cycle 17.
Before tapping, the axes (e.g. Z and S) are synchronized through an oriented spindle stop, i.e., every Z position is assigned to a certain spindle angle. The NC orients the spindle. The NC sets M4017. The position control loop must be closed (M4012). Also see “Oriented Spindle Stop” on page 6 – 290.
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HEIDENHAIN Technical Manual iTNC 530
Synchronization makes it possible to cut the same thread more than once. The assigned spindle angle depends on the thread pitch entered in the cycle. You can deselect this function to save machining time: 8
Set MP7160 bit 0 = 1 In this case you cannot cut the thread more than once.
M4031 and M4030 are set while the cycle runs.
F 0 Positioning window reached (MP7150) Ramp from MP3412.3
S
Oriented stop
0 Oriented stop
M05
M4092
M4030 M4031
End of cycle
Start of cycle
M4012
While Cycle 17 is running, the positioning window from MP7150 applies to the tool axis: 8
Enter a value in MP7150 smaller than or equal to MP1030.x.
Define the acceleration and braking process of the spindle during rigid tapping:
September 2006
8
In MP3412.3 enter a multiplier for MP3411.x.
8
With MP3415.3, define the overshoot behavior of the spindle.
8
With MP7130, define the run-in behavior of the spindle.
Spindle
6 – 299
S MP3415.3
MP3412.3
MP3412.3
MP7130
MP3412.3 Input:
Multiplier for MP3411.x for rigid tapping 0 to 1.999
MP3415.3 Input:
Overshoot behavior of the first spindle during rigid tapping 0 to 1000 [ms]
MP7130 Input:
Run-in behavior of the spindle during rigid tapping 0.001 to 10 [°/min]
MP7150 Input:
Positioning window of the tool axis during rigid tapping 0.0001 to 2 [mm]
MP7160 Format: Input:
Spindle response during Cycles 17, 207 and 18 %xxx Bit 0 – Oriented spindle stop with Cycles 17 and 207 0: Oriented spindle stop before execution of the cycle 1: No oriented spindle stop before execution of the cycle Bit 1 – Spindle speed 0: Spindle speed is not limited 1: Spindle speed is limited so that it runs with constant speed approx. 1/3 of the time Bit 2 – Spindle in position feedback control 0: Spindle operated without position feedback control 1: Spindle operated with position feedback control Bit 3 – Acceleration feedforward 0: Active 1: Not active Bit 4 – 0: Tool axis tracks the spindle 1: Tool axis and spindle interpolated
M4030 M4031
6 – 300
Cycle 2 or Cycle 17 active Cycle 17 or Cycle 18 active
Set
Reset
NC NC
NC NC
HEIDENHAIN Technical Manual iTNC 530
Cycle 18
With Cycle 18 the tool axis tracks the actual position of the spindle. The starting position is the actual position. The target position is the hole depth: 8
Program the approach and departure separately.
M4031 is set while Cycle 18 is running. M4012 must be reset for the cycle to be executed. MP3412.3, MP3415.3, MP7130, MP7150 and MP7160 bit 1, bit 2 and bit 3 function as for Cycle 17.
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Spindle
6 – 301
6.12.10 Switching the Modes of Operation For a spindle motor, two parameter blocks with the same name can be saved in the motor table. This may be necessary if Another parameter block applies to a spindle motor at the higher speed range. A wye/delta connection switchover is carried out for a motor. The switchover can be carried out during standstill or with a revolving spindle. Danger The contactor for the wye/delta switchover may not be switched under load! As soon as the operating mode is switched with Module 9163, the NC switches the drive controller of the spindle off and activates the parameter block from the motor table and the machine parameters. You can check this with Module 9162. After the operating mode has been switched, you must reactivate the drive controller of the spindle with Module 9161. To use the operating-mode switchover: 8
Enter the two parameter blocks of your spindle motor with the same name in the motor table. Identify parameter block 1 by entering 0 in the MODE column, and parameter block 2 by entering 1.
8
Switch between the two operating modes with Module 9163.
8
With Module 9161, reactivate the drive controller.
For the two operating modes, you can use different machine parameters for the current and speed controller: 8
In MP131.x you enter the y index of machine parameters MP2xxx.y for the current and speed controller in operating mode 0.
8
In MP132.x you enter the y index of machine parameters MP2xxx.y for the current and speed controller in operating mode 1.
Module 9163 Switching the operating modes Call: PS B/W/D/K 15: Spindle PS B/W/D/K 0: Operating mode 0 1: Operating mode 1 CM 9163 Error recognition:
6 – 302
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
1
Switching not possible for this control loop
2
Incorrect operating mode or incorrect control-loop number
HEIDENHAIN Technical Manual iTNC 530
6.12.11 Operating a Second Spindle With the iTNC 530 you can operate two spindles alternately, i.e., only one spindle can be active at a given time. Both spindles can be operated as analog or digital spindles. If one spindle is to be operated as a digital spindle and the other one as an analog spindle, the first spindle must be operated as a digital spindle. Assignment of encoder input and speed command output
The second spindle is driven instead of an axis, i.e., there are fewer axes available. An exception is analog operation of the second spindle without a position encoder. In this case all axes remain available. The assignment of position and speed encoder inputs as well as of speed command outputs is entered in MP111.x, MP113.x and MP121.x. See “Assignment for Axes” on page 6 – 14. Note If the speed encoder (with active reference mark monitoring, MP2220 bit 0) is disconnected and reconnected, the reference mark must be reevaluated (M4015) after the drive has been switched on again, otherwise the error message Incorrect reference position appears.
Switching between the spindles
You can switch between the two spindles through the PLC: 8
Enter MP4020 bit 5 = 1 to activate double spindle operation.
8
With Module 9175, switch between spindle 1 and spindle 2.
Module 9179 is used to determine the active spindle. Commissioning the second spindle
8
Digital second spindle: In MP10, deactivate one axis.
8
Digital second spindle: Set MP110.x, MP112.x and MP120.x of the deactivated axis to zero.
8
Machine parameters MP13010 to MP13520 are available for the second spindle. In their functions and input ranges, these parameters are identical with MP3010 to MP3520 for the first spindle. See “Spindle” on page 6 – 273.
8
Current and speed controller: For commissioning, use the machine parameters MP2040.x to MP2930.x. Determine the x index to be used for the second spindle with MP131.1 (for operating mode 0) and with MP132.1 (for operating mode 1).
MP4020 Format: Input:
PLC functions %xxxxxxxx Bit 5 – Single- or double-spindle operation 0: Single-spindle operation 1: Double-spindle operation
MP13010 to MP13520 Machine parameter block for the second spindle Input: Function and input range are identical to MP3010 to MP3520
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6 – 303
Module 9175 Spindle switchover With this module you can switch between spindle 1 and spindle 2. When switching via an M strobe, MP7440 bit 2 must not be set. When switching via an S or G strobe, MP3030 or MP13030, respectively, must not be set. The module only needs to be called once. Switching is only possible if the control is not in operation (M4176 is not set), the control is in operation (M4176 is set) and an M/S/T/T2/G strobe is active, or the machine is not currently approaching a contour (M4157 is not set). Call: PS
CM
B/W/D/K 0: First spindle 1: Second spindle 9175
Error recognition: Marker
Value
Meaning
M4203
0
Specified spindle active
1
Error code in W1022
W1022
2
Invalid spindle number
6
M4157 = 1 (RESTORE POSITION active)
20
Module was called in a spawn job or submit job
21
Missing strobe in M4176 = 1
Module 9179 Status information about spindle(s) Status information about the spindles can be ascertained with Module 9179. Call: PS PS CM PL
B/W/D/K B/W/D/K 0: Active spindle (“Number of spindle” is not evaluated) 9179 B/W/D
Error recognition:
6 – 304
Marker
Value
Meaning
M4203
0
Status information has been ascertained
1
Error code in W1022
W1022
1
Invalid code for status information
2
Invalid spindle number
HEIDENHAIN Technical Manual iTNC 530
6.12.12 C-Axis Operation In C-axis operation, an axis and a spindle are driven alternately by the same motor. Digital or analog operation of axis and spindle is possible. Axis and spindle may each be equipped with one position encoder. Because the speed encoder is built into the motor, it measures both the axis and the spindle. Assignment of encoder inputs and speed command outputs to the axis and spindle: 8
In MP110.x, enter the position encoder input of the axis (if present).
8
In MP111.x, enter the position encoder input of the spindle (if present).
8
Enter MP112.x = 0 for the axis (it uses the speed encoder of the spindle motor).
8
In MP113.x, enter the speed encoder input of the spindle.
8
Enter the same speed command output in MP121.x for the spindle and in MP120.x for the axis.
Commissioning of the axis and the spindle: 8
The current and speed controllers are commissioned only for the spindle.
8
The position controllers must be commissioned separately for the axis and spindle. Note The axis position controller should be commissioned in the gear range that is actually used for positioning. If possible, use the lowest gear range to ensure optimum control. C axis operation must be deselected for commissioning the spindle, meaning that no identical PWM outputs may be entered in MP120.x and in MP121.x.
If you use only one position encoder for both the spindle and the axis, the axis display keeps running while the spindle is in operation: 8
Before switching from the axis to the spindle, save the actual position value of the axis with Module 9146. This ensures that the axis display remains at the last value, even when the spindle is rotating.
8
Before switching from the spindle to the axis, recover the actual position value of the axis with Module 9146.
If you save the actual position value with Module 9146 and then close the position control loop, or if the position control loop is closed and the actual position value is then saved with Module 9146, the error message Actual position value saved appears. The error message triggers an emergency stop.
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Spindle
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Switching from spindle to axis: 8
Stop the spindle
8
Switch to the gear range required for axis operation.
8
Switch the spindle motor to the axis.
8
With Module 9156, switch the axis from the open-loop to the closed-loop (servo-controlled) state.
8
Enable the current and speed controls via Module 9161 with the corresponding bit for the axis.
8
Release the axis clamping.
8
Close the position control loop of the axis by setting the corresponding bits in W1040.
8
Begin axis operation
Switching from axis to spindle: 8
Stop the axis
8
Clamp the axis
8
Open the position control loop of the axis by resetting the corresponding bits in W1040.
8
With Module 9155, switch the feedback control for the axis off.
8
Switch the spindle motor from the axis back to the spindle.
8
With Module 9161 bit 15, release the current and speed controllers.
8
Shift back to the original gear range.
8
Start spindle operation
Module 9146 Saving and reestablishing actual position values Module 9146 saves and later reestablishes the actual position values of axes. If the actual position values were saved, the last value displayed remains until they are reestablished. Call: PS PS
CM
B/W/D/K B/W/D/K 0: Save actual position values 1: Reestablish actual position values 9146
Error recognition: Marker
Value
Meaning
M4203
0
Actual position values saved or reestablished
1
Error code in W1022
1
Invalid mode
2
Invalid axes
24
Module was called in a spawn job or submit job
W1022
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HEIDENHAIN Technical Manual iTNC 530
Module 9155 Axis switchover from closed loop to open loop With Module 9155 you can switch an axis from the closed-loop to the openloop state. Now the bit can be transferred to the spindle or the axis. Call: PS CM
B/W/D/K 9155
Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
2
Invalid axis number
21
Missing strobe or M4176 = 1
24
Module was called in a spawn job or submit job
Module 9156 Axis switchover from open loop to closed loop With Module 9156 you can switch an axis from the open-loop to the closedloop state. An automatic actual-to-nominal value transfer is executed. Now the bit can be transferred to the spindle or the axis. Call: PS CM
B/W/D/K 9156
Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
2
Invalid axis number
21
Missing strobe or M4176 = 1
24
Module was called in a spawn job or submit job
W1022
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Spindle
6 – 307
✎
6 – 308
HEIDENHAIN Technical Manual iTNC 530
6.13 Integrated Oscilloscope The iTNC features an integrated oscilloscope. This oscilloscope has six channels, of which no more than four can be used for signals from the current and speed controller. If more than four channels are to be displayed from the current and speed controller, the error message Channel cannot be displayed appears. The following signals can be recorded:
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Signal
Meaning
Saved
The signal last recorded is displayed
s actual
Actual position [mm]
s nominal
Nominal position [mm]
s diff
Following error of the position controller [mm]
Volt.analog
Analog axis/spindle: Analog voltage = nominal velocity value [mV]
v actual
Actual value of the axis feed rate [mm/min]. Calculated from position encoder.
v nominal
Nominal value of the axis feed rate [mm/min]. Axis feed rate calculated from the difference from the nominal position values. The following error is not included.
Feed rate
Contouring feed rate [mm/min]
Position: A
Signal A of the position encoder
Position: B
Signal B of the position encoder
v (act rpm)
Shaft speed actual value [mm/min]; Calculated from rotary speed encoder and standardized with MP1054
v (nom rpm)
Nominal velocity value [mm/min]: Output quantity of the position controller
I (int rpm)
Integral-action component of the nominal current value [A]; CC 422: peak value, CC 424: effective value
I nominal
Nominal current value [A] that determines torque; CC 422: peak value, CC 424: effective value
PLC
The PLC operands (B, W, D, I, O, T, C) are recorded. Enter the operands in the input field next to the PLC.
a nominal
Nominal value of the acceleration [m/s2]
r nominal
Nominal value of the jerk [m/s3]
Pos. Diff.
Difference between position and speed encoder [mm]
a actual
Current acceleration value [m/s2]. Calculated from position encoder.
r actual
Current jerk value [m/s3]. Calculated from position encoder.
Integrated Oscilloscope
6 – 309
Signal
Meaning
I2-t (mot.)
Current value of the I2t monitoring of the motor [%]
I2-t (p.m.)
Current value of the I2t monitoring of the power module [%]
Utilization
Utilization of drive motors [%]
Block no.
Block number of the NC program
Gantry diff.
Difference between synchronous axes [mm]
U nominal
Nominal voltage [V]
P mech.
Mechanical power [W]
P elec.
Electrical power [W]
M actual
Actual torque value [Nm]
S noml (f.)
Nominal position of nominal position value filter [mm]
DSP debug
Diagnosis function for internal purposes
Contour dev.
Circular interpolation test, contour deviation [mm]
F TCPM
Feed rate of the tool tip for TCPM
int. diagn.
Reserved for internal purposes
The oscilloscope provides additional functions for commissioning the current controller. See “Commissioning” on page 6 – 317. The recorded data remain stored until you start recording again or activate another graphic function. Colors
8
In MP7365.x, define the colors for the oscilloscope.
Setup
8
Activate the oscilloscope with the DIAGNOSIS, DRIVE DIAGNOSTICS and OSCI soft keys. Note A step response is not possible. In order to make a step response possible, the keyword 688379 must have already been entered.
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HEIDENHAIN Technical Manual iTNC 530
The setup menu appears: 8
Choose the parameters to be entered with the cursor keys.
Operating mode: 8
Select the desired setting or choose the circular interpolation test • YT: Chronological depiction of the channels • XY: X/Y graph of two channels • CIRC: Circular interpolation test
Sampling time: 8
Set the time interval for recording the signals. Entry: 0.6 ms, 1.8 ms and 3.6 ms 4096 samples are stored. The signals are therefore stored for the following duration: • 0.6 ms ⋅ 4096 = 2.4576 s • 1.8 ms ⋅ 4096 = 7.3728 s • 3.6 ms ⋅ 4096 = 14.7456 s
Output: 8
Select whether the nominal speed value is to be issued as a step or ramp. • If you select ramp output, then the programmed feed rate, kV factors, and acceleration values that you have specified with machine parameters go into effect. • If you select step output, a step will be output as nominal velocity value when you press the axis-direction buttons in the Manual operating mode. During output, the position control loop is opened. The step response is only possible if the keyword 688379 or 807667 was already entered.
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Integrated Oscilloscope
6 – 311
Feed rate: 8
Enter the height of the step for the nominal velocity value (in mm/min). This entry has no effect for ramp output.
Channel 1 to channel 6: 8
Assign the channels of the signals to be recorded to the respective axes.
Trigger: 8
Define the type of recording. You have the following possibilities: • Free run: The recording is started and ended by soft key. If you press the STOP soft key, the last 4096 events are stored. • Single shot: If you press the START soft key, the next 4096 events are stored. • Channel 1 to 6: Recording begins when the triggering threshold of the selected channel is exceeded.
Trigger threshold: 8
Enter the trigger threshold (you will find the appropriate units in the signals table on 6 – 309):
Slope: 8
Select whether the rising edge (positive slope) or falling edge (negative slope) of the signal acts as trigger.
Pre-Trigger: Recording begins at a time preceding the trigger time point by the value entered here 8
Enter a value.
Oscilloscope display: 8
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Press the OSCI soft key
HEIDENHAIN Technical Manual iTNC 530
During recording, the selected signals are continuously displayed. After recording ends, the memory contents are displayed. For every channel, the type of signal and the resolution are also shown. The length of the recorded range, with respect to the entire memory content, is shown as a bar in the status field. 8
Move the cursor with the arrow keys to select the channel. The status field shows the amplitude of the selected channel and the time with respect to the beginning of recording.
8
Activate a second cursor by pressing the CURSOR 1/2 soft key. The oscilloscope displays the amplitude and time of this cursor. The time [s] of the second cursor is shown with respect to the time point of the first cursor. With this function you can measure the acceleration time of an axis, for example. Note The cursor is located on the trigger point only if it has not been moved after the measurement. If the cursor has been moved, it will remain at the point of the time axis to which it has been moved. The cursor does not return to the trigger point until a trigger parameter has been changed.
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Integrated Oscilloscope
6 – 313
Meaning of the soft keys: Meaning of the soft keys: Hide/show gridlines. Hide/show lines between measured points. Start recording. The recording is ended either with a trigger condition or with the STOP soft key. Move the signal down. Move the signal up. Decrease the vertical resolution. Increase the vertical resolution. Optimum vertical resolution. The signal is centered in the picture. Optimum vertical resolution. The signal is referenced to the datum line. Switch to second cursor. Move the signal to the left. Move the signal to the right. Decrease the horizontal resolution. Increase the horizontal resolution. Invert the signal. Exit the oscilloscope function.
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Saving and loading a recording
You can display the signal last recorded for a channel again by selecting the Saved signal. With the SAVE SCREEN soft key in the Setup menu you can save the recorded signals with all settings in a file on the hard disk. The file must have the extension DTA. This file can be called by the PLCdesign PLC development software again, or be read back into the control. In order to read a *.DTA file back into the control:
September 2006
8
Press the RESTORE SCREEN soft key in the Setup menu.
8
Enter the complete file name and path of the *.DTA file.
8
Press the ENT key.
8
Press the OSCI soft key to displays the signals from the *.DTA file.
Integrated Oscilloscope
6 – 315
Circular interpolation test
A circular interpolation test can be run in the oscilloscope. 8
Choose the CIRC operating mode in the oscilloscope.
8
Select the Contour dev. setting for the appropriate axes in the two channels.
8
Begin recording.
8
Start an NC program in which a circle is programmed. The circle center point must be at the origin of both axes.
8
Stop recording.
Below the grid, the recording time relative to the trigger time point is displayed. Example of a circular interpolation test with the integrated oscilloscope: Actual position: X +30 Y +0 NC program: 0 BEGIN PGM Circular interpolation test MM 1 CC X+0 Y+0 2 CP IPA+360 DR+ F1000 3 M30 4 END PGM Circular interpolation test MM
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HEIDENHAIN Technical Manual iTNC 530
6.14 Commissioning 6.14.1 Power Module Table and Motor Table In the machine parameter editor you select the installed power modules and the motors: 8
Call a list of power modules or motors with the corresponding soft key. In the list of motors, the type of motor (synchronous, asynchronous, or linear motor) and the operating mode are displayed in addition to the motor designation.
Meaning of the soft keys: Call a list of power modules. Jump to the beginning of the list of power modules. Jump to the end of the list of power modules. Scroll one page forward in the list of power modules. Scroll one page backward in the list of power modules. Select a power module with the arrow keys and transfer it with the corresponding STORE MP2100.X soft key. Open the table of power modules and jump to the selected power module. Add the new power module to the table of power modules. Return to the machine parameter editor.
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Commissioning
6 – 317
Meaning of the soft keys: Call a list of motors. Jump to the beginning of the list of motors. Jump to the end of the list of motors. Scroll one page forward in the list of motors. Scroll one page backward in the list of motors. Select a motor with the arrow keys and transfer it with the corresponding "STORE MP2200.X" soft key. Open the table of motors and jump to the selected motor. Add the new motor to the table of motors. Return to the machine parameter editor.
After you have selected the motor and the power module, the models are automatically entered in MP2100.x and MP2200.x. If you use motors or power modules that are not listed in the menus, please contact HEIDENHAIN. You can overwrite standard data or add other models to the tables. If you change the table of the motor models or power modules, the changed tables are saved separately in the PLC partition, where they are used by the iTNC: PLC:\MP\MOTOR.MOT (motor table) PLC:\MP\INVERTER.INV (power module table) PLC:\MP\MOTOR.AMP (old power module table) If at any time you want to use the HEIDENHAIN standard tables again, you must erase the above-mentioned tables in the PLC partition. Note Due to reasons of compatibility, the iTNC still supports the MOTOR.AMP power module table. However, it is not possible to use the higher currents of the HEIDENHAIN 1xx D inverters at the PWM frequencies 3.33 kHz and 4.0 kHz with this table.
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06Anpass.fm Seite 319 Donnerstag, 14. September 2006 2:46 14
The iTNC follows a specific sequence when searching for the valid power module table. 1. PLC:\mp\inverter.inv 2. PLC:\mp\motor.amp 3. inverter.inv HEIDENHAIN standard table for power modules on the system partition 4. motor.amp previous HEIDENHAIN standard table for power modules on the system partition If you use a motor that appears in the motor table, but only the data for the speed encoders differs, you can overwrite this data in the motor table with MP2202.x, MP2204.x and MP2206.x. The motor table is not actually changed. The changes only take place in the working memory. Note The original entry from the motor table is used only when MP2202.x = *, MP2204.x = * and MP2206.x = *.
September 2006
MP2100.x Input:
Power module model Name of the selected power module (entered by the iTNC)
MP2200.x Input:
Motor model Name of the selected motor (entered by the iTNC)
MP2202.x Input:
Overwrite “Line count” from the motor table *: Entry from the motor table active 0: No speed encoder (volts-per-hertz control mode) 1 to 999 999
MP2204.x Input:
Overwrite “Counting direction” from the motor table *: Entry from the motor table active +: Positive counting direction –: Negative counting direction
MP2206.x Input:
Overwrite “Type of encoder” from the motor table *: Entry from the motor table active 0: No speed encoder (volts-per-hertz control mode) 1: Incremental rotary encoder with Z1 track 2: Absolute rotary encoder with EnDat interface (aligned) 3: Absolute linear encoder with EnDat interface 4: reserved 5: Absolute rotary encoder with EnDat interface (not aligned) 6: Incremental rotary encoder without Z1 track 7: Incremental rotary encoder with distance-coded reference marks (not aligned) 8: Incremental linear encoder with distance-coded reference marks (not aligned)
Commissioning
6 – 319
Entries in the power module table (inverter.inv)
NAME: Designation of the power module PWM: PWM frequency in [Hz] at which the power module is driven S: Switch position of the current sensor. Is required for the D series of HEIDENHAIN inverters (UM 1xx D) in order to use the higher currents named above at the lower PWM frequencies. Input 0 or 1 I-MAX: Maximum current of the inverter output in [A] I-Nom: Rated current of the inverter output in [A] U-Imax: Current sensor voltage in [V] at I-MAX I-N-DC: Permissible continuous current in stationary rotating field or until F-DC is reached in [A] T-DC: Time constant, how long maximum current can be applied to a stationary synchronous motor in [s] F-DC: Lower motor base frequency down to which the motor can be loaded with I-N-DC in [Hz] T-AC: Cycle duration for the duty cycle S6-40% in [s] F-AC: Motor frequency from which I-MAX is permissible in [s] T-IGBT: Protection time of the IGBTs in [s]
Entries in the power module table (motor.amp)
Designation of power module (NAME) Maximum current (I-MAX) in A Rated current (I-N) in A at a PWM frequency of 5 kHz Current sensor voltage (U-IMAX) in V at I-MAX Permissible continuous current in stationary rotating field or until F-DC is reached (I-N-DC) in A Time constant, how long maximum current can be applied to a stationary synchronous motor (T-DC) in seconds Lower motor base frequency down to which the motor can be loaded with I-N-DC (F-DC) in Hz Cycle duration for the duty cycle S6-40% (T-AC) in seconds Motor frequency from which I-MAX is permissible (F-AC) in seconds Protection time of the IGBTs (T-IGBT) in seconds Rated currents with PWM frequencies of 3333 Hz, 4000 Hz, 5000 Hz, 6666 Hz, 8000 Hz and 10000 Hz (I-N-AC-3333, I-N-AC-4000, I-N-AC-5000, I-N-AC-6666, I-N-AC-8000, I-N-AC-10 000) in A
Entries in the motor table (motor.mot)
Motor model (TYPE) • UASM = Uncontrolled asynchronous motor (volts-per-hertz control mode) • SM = synchronous motor • ASM = asynchronous motor • LSM = linear motor Designation of motor (NAME) Operating mode (MODE) Rated current (I-N) in A Rated voltage (U-N) in V Rated speed (N-N) in rpm Rated frequency (F-N) in Hz No-load voltage (U0) in V No-load current (I0) in A
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06Anpass.fm Seite 321 Donnerstag, 14. September 2006 2:47 14
Stator resistance cold (R1) in mΩ Rotor resistance cold (R2) in mΩ Stator leakage reactance (XStr1) in mΩ Rotor leakage reactance (XStr2) in mΩ Magnetizing reactance (XH) in mΩ Upper speed X-H characteristic (N-XH) in rpm Threshold speed for field weakening (N-FS) in rpm Maximum speed (N-MAX) in rpm Factor for X-H characteristic (%-XH) Factor for stalling torque reduction (%-K) Number of pole pairs (PZ) Temperature coefficient (TK) in Ω/K Line count of the motor encoder (STR) Encoder being used (SYS) • 0 = No speed encoder (volts-per-hertz control mode) • 1 = Incremental rotary encoder with Z1 track • 2 = Absolute rotary encoder with EnDat interface (aligned1) • 3 = Absolute linear encoder with EnDat interface • 4 = reserved • 5 = Absolute rotary encoder with EnDat interface (not aligned1) • 6 = Incremental rotary encoder without Z1 track (one reference mark) • Only CC 424: 7 = Incremental rotary encoder with distance-coded reference marks (not aligned1) • Only CC 424: 8 = Incremental linear encoder with distance-coded reference marks (not aligned) Counting direction of the motor encoder (DIRECT.) Maximum temperature (T-MAX) in °C Maximum current (I-MAX) in A Rated power output (P-N) in W Motor mass moment of inertia (J) in kgm2 Inductance of the series reactor (L) in µH Thermal time constant for direct current (T-DC) in seconds Lower thermal limit frequency (F-DC) in Hz Thermal time constant for alternating current (T-AC) in seconds Upper thermal limit frequency (F-AC) in Hz; above this frequency, the maximum current I-MAX applies Thermal time constant for winding (Tth1) in s Thermal resistance between winding and lamination (Rth1) in K/W Thermal time constant for lamination (Tth2) in s Thermal resistance between lamination and coolant (Rth2) in K/W
1.
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See “Field Orientation” on page 330.
Commissioning
6 – 321
Series reactor
The inductivity of the series reactor is calculated depending on the no-load current I0: I0 < 26 A: 700 µH ⋅ 5000 Hz ⋅ U Z ( X 1 + X 2 ) ⋅ 1000 L = --------------------------------------------------------- – -------------------------------------------2 ⋅ π ⋅ fN f PWM ⋅ 600 I0 ≥ 26 A: 700 µH ⋅ 5000 Hz ⋅ U Z ( X 1 + X 2 ) ⋅ 1000 L = --------------------------------------------------------- – -------------------------------------------2 ⋅ π ⋅ fN 23,1 ⋅ I 0 ⋅ f PWM L: Inductance of the series reactor in µH fPWM: PWM frequency [Hz] X1: Stator leakage reactance [mΩ] X2: Rotor leakage reactance [mΩ] fN: Rated frequency [Hz] UZ: DC-link voltage [V] I0: No-load current [A] A negative result means that there is no series reactor. Note If a series reactor is installed later, the current controller must be readjusted. The series reactor must fulfill the following specifications: The required inductivity (per phase) Load capacity with the maximum spindle current The inductivity even with the maximum spindle speed (operating frequency)
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Determining data for synchronous motors
The motor data for synchronous motors are entered in the motor table after some conversions using the values from the motor data sheet of the respective manufacturer (here using the example of a SIEMENS motor).
Values in the HEIDENHAIN motor table
Values from the motor data sheet
TYPE: SM
Permanently excited synchronous motor (SM)
NAME: 1FT6044-4AF7
1FT6044-4AF7
MODE: 0 Rated current I-N in [Aeff] winding I-N: 2.9
Data sheet value Inoml (100 K) IN = 2.9 A
Rated voltage U-N in [Veff] interlinked U-N: 341
Calculation from data sheet values nnoml, kE, RStr, Inoml (100 K), LD: U-N =
3
⋅
2 2 (U + U ) + U e r x
Ue = (nnoml / 1000) ⋅ (kE / √ 3) Ue = (3000 / 1000) ⋅ (108 / √ 3) Ue = 187.06 Veff L,N Ur = RStr ⋅ Inoml (100 K) Ur = 3.05 ⋅ 2.9 Ur = 8.85 Veff L,N Ux = 2 ⋅ π ⋅ (nnoml / 60) ⋅ PZ ⋅ (LD / 1.5) ⋅ Inoml (100 K) Ux = 2 ⋅ π ⋅ (3000 / 60) ⋅ 2 ⋅ (0.016 / 1.5) ⋅ 2.9 Ux = 19.44 Veff L,N
U-N =
3
⋅
2 2 ( 187,06 + 8,85 ) + 19,44
U-N = 341 Veff L,L Rated speed N-N in [rpm] N-N: 3000
Data sheet value nnoml N-N = 3000 rpm
Rated frequency F-N in [Hz] F-N: 100
Calculation from data sheet value nnoml F-N = (n / 60) ⋅ PZ F-N = (3000 / 60) ⋅ 2 F-N = 100 Hz
No-load voltage at rated speed U0 in [Veff] interlinked U0: 324
Calculation from data sheet value nnoml and kEt U0 = (nnoml / 1000) ⋅ kE U0 = (3000 / 1000) ⋅ 108 U0 = 324 Veff L,L
No-load current I0 in [Aeff] winding I0: 3
Data sheet value I0 (100 K) I0 = 3 Aeff
Stator resistance at 20 °C R1 in [mΩ] at 20° C R1: 3050
Data sheet value RStr R1 = 3050 mΩ
Rotor resistance at 20 °C R2 in [mΩ] at 20° C R2: 0 September 2006
Commissioning
6 – 323
Values in the HEIDENHAIN motor table
Values from the motor data sheet
Stator leakage reactance at F-N Xstr1 in [mΩ] Xstr1: 0
If nothing given, then zero.
Runner leakage reactance at F-N Xstr2 in [mΩ] Xstr2: 0 Magnetizing reactance XH for F-N at rated conditions XH in [mΩ] XH: 2295
Calculation from data sheet value LD, nnoml XH = 2 ⋅ π ⋅ (nnoml / 60) ⋅ PZ ⋅ (LD / 1.5) XH = 2 ⋅ π ⋅ (3000 / 60) ⋅ 2 ⋅ (0.016 / 1.5) XH = 6702 mΩ
Desaturation speed N-XH in [rpm] N-XH: 0 Rotational speed of beginning field weakening range N-FS [rpm] N-FS: 0 Maximum speed (mechanical) N-MAX in [rpm] N-MAX: 180
Data sheet value n N-MAX = 180 rpm
Saturation factor %-XH in % %XH: 100 Stalling torque reduction factor %-K in % %-K: 100 No. of pole pairs (half pole no. of motor) PZ PZ: 2
From data sheet value or model designation
Temperature coefficient of the stator winding TK in 1/K TK: 0.004 Line count of the encoder STR STR: 2048
From the mounted speed encoder
Type of encoder SYS: 1
Aligned incremental encoder with distance-coded reference marks: 1 Aligned absolute encoder with EnDat interface: 2
Counting direction DIRECT. DIRECT.: + Max. temperature of motor at temperature feeler T-MAX in [°C] T-MAX: 150 Maximum motor current I-MAX in [Aeff] winding I-MAX: 11
Data sheet value Imax I-MAX = 11 Aeff
Rated power P-N in [W] P-N: 9142
Calculation from data sheet value nnoml and Mnoml (100 K) P-N = 2 ⋅ π ⋅ (nnoml / 60) ⋅ Mnoml P-N = 2 ⋅ π ⋅ (3000 / 60) ⋅ 4.3 P-N = 1351 W
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HEIDENHAIN Technical Manual iTNC 530
Values in the HEIDENHAIN motor table
Values from the motor data sheet
Motor mass moment of inertia J in [kgm2] J: 0.005
Data sheet value Jmot J = 0.00051 kgm2
Inductivity of the series reactor L in [mH] L: 0 Thermal time constant for direct current T-DC in [s] T-DC: 2400
Calculation from data sheet value Tth T-DC = Tth ⋅60 T-DC = 40 ⋅60 T-DC = 2400
Lower thermal cutoff frequency F-DC in [Hz] F-DC: 0 Thermal time constant for alternating current T-AC in [s] T-AC: 2400
Calculation from data sheet value Tth T-AC = Tth ⋅60 T-AC = 40 ⋅60 T-AC = 2400
Upper thermal cutoff frequency F-AC in [Hz] F-AC: 0
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6.14.2 PWM Frequencies of the CC 422 For the CC 422, certain controller groups can be assigned different PWM frequencies via MP2180.x. The PWM outputs of a controller group must be assigned the same PWM frequencies with MP2180.x. Otherwise, the DSP error message C440 PWM frequency incorrect will appear. Controller group 1: X51, X53, X54 Controller group 2: X52, X55, X56 Controller group 3: X57, X59, X60 Controller group 4: X58, X61, X62 8
With MP2180.x, you can set the same PWM frequency for the PWM outputs of a controller group. The assignment between a PWM output and MP2xxx.y is done with MP120.x/MP121.x and MP130.x/MP131.x/MP132.x.
If PWM frequencies of > 5000 Hz are set for a controller group, it is no longer possible to use all PWM outputs of the controller group. Then only the first PWM output of the controller group can be used. The other PWM outputs must not be entered in MP120.x or MP121.x. Otherwise, the DSP error message C440 PWM frequency incorrect will appear. The following PWM outputs can be operated with a PWM frequency of > 5000 Hz: Controller group 1: X51 (but not X53, X54) Controller group 2: X52 (but not X55, X56) Controller group 3: X57 (but not X59, X60) Controller group 4: X58 (but not X61, X62) 8
Set the required PWM frequency > 5000 Hz for the corresponding PWM output in MP2180.x. For the PWM outputs not used for the controller group, set MP2180.x = 0. Warning The following hardware version and later versions support the entry of different PWM frequencies for controller groups and of PWM frequencies > 5000 Hz: CC 422/6 control loops with Id. Nr. 359 651-02 CC 422/10 control loops with Id. Nr. 359 652-02 CC 422/12 control loops with Id. Nr. 359 653-02 If you are using another hardware version, you must enter the same value (≤ 5000 Hz) in all MP2180.x.
MP2180.x Input:
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PWM frequency 0: fPWM = 5000 Hz (for HEIDENHAIN inverters) 3200 to 3999: fPWM = 3333 Hz 4000 to 4999: fPWM = 4166 Hz 5000 to 5999: fPWM = 5000 Hz 6000 to 7999: fPWM = 6666 Hz 8000 to 9999: fPWM = 8333 Hz 10000: fPWM = 10000 Hz
HEIDENHAIN Technical Manual iTNC 530
PWM frequency with INDRAMAT “POWER DRIVE” inverters
8
PWM frequency with SIEMENS “SIMODRIVE” inverters
The iTNC 530 operates with a PWM frequency of 5 kHz. SIEMENS power modules are normally driven with a PWM frequency of 3.2 kHz (spindle) and 4 kHz (axes). The rated current values IN are defined for these frequencies. If power modules are operated with a higher PWM frequency (e.g. 5 kHz), high temperatures can be caused in these modules in some cases.
In MP2180.x, enter the PWM frequency 4000 Hz.
This applies particularly to these SIEMENS power modules: 6SN1123-1AA00-0CA0 (as axis module) 6SN1123-1AB00-0CA0 (as axis module) Machines that are not under full load do not exceed the maximum permissible temperature. There are two ways to prevent the undesired heating: 8
In MP2180.x, enter the required PWM frequency (3200 Hz or 4000 Hz) or
8
Reduce the factor for I2t monitoring or
8
Reduce rated current IN in the table of power modules. Note A reduction of the PWM frequency has no effect on the maximum rotational speed, but it means that the axes and the spindle(s) must be commissioned again.
When a new machine is put into service, HEIDENHAIN recommends the PWM frequency fitting for the axis modules (normally 4 kHz, see the SIEMENS documentation). If the power module of the spindle gets too warm in spite of a reduction of the PWM frequency from 5 kHz to 4 kHz, then the reference value for the I2t monitoring or the rated current IN must be reduced in the table of power modules. Reduction of the reference value for I2t monitoring or rated current IN in the table of power modules The reduction of the rated current IN of the power modules, as well as the datum value for I2t monitoring, can be calculated from two values (X1, X2) that are given in the SIEMENS documentation.
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The percent reduction of the rated current can be calculated with the following formula: ( 100 – X1 ) ⋅ (8 kHz – f PWM ) X R [%] = 100 – ⎛ ---------------------------------------------------------------------------------------- + X1⎞ ⎝ ⎠ 8 kHz – X2 X1 = Reduction factor of the current in % at a PWM frequency of 8 kHz X2 = PWM threshold frequency in kHz at which the electrical power reduction begins fPWM = Frequency in kHz set in MP2180.x This results in the reference value for I2t monitoring: X R [%] X B = 1 – -------------------100 8
Reduce the rated current values IN of your power modules in the list of power modules. I Nnew = I N ⋅ ( 100 % – X R [%] )
or 8
Reduce the reference value for the I2t monitoring. MP2302.x = X B
Note A reduction of the rated current of the power module can cause a reduction of the rated torque and, as a consequence, the rated power of the motor, if equal values for rated current of the power module and the rated current of the motor were chosen. Example for a 50-A power module: Axis power module with 50 A, PWM frequency of 5 kHz, X1 = 40%, X2 = 4 kHz ( 100 – 40 ) ⋅ (8 kHz – 5 kHz ) X R [%] = 100 – ⎛ ---------------------------------------------------------------------------------------- + 40⎞ = 15 % ⎝ ⎠ 8 kHz – 4 kHz 15 X B = 1 – ----------- = 0.85 100 Spindle power module with 50 A, PWM frequency of 5 kHz, X1 = 40%, X2 = 3.2 kHz ( 100 – 40 ) ⋅ (8 kHz – 5 kHz ) X R [%] = 100 – ⎛ ---------------------------------------------------------------------------------------- + 40⎞ = 22.5 % ⎝ ⎠ 8 kHz – 3.2 kHz 22.5 X B = 1 – ------------- = 0.78 100
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Axis power module with 50 A, PWM frequency of 4 kHz, X1 = 40%, X2 = 4 kHz ( 100 – 40 ) ⋅ (8 kHz – 4 kHz ) X R [%] = 100 – ⎛ --------------------------------------------------------------------------------------- + 40⎞ = 0 % ⎝ ⎠ 8 kHz – 4 kHz 0 X B = 1 – ----------- = 1.00 100 Spindle power module with 50 A, PWM frequency of 4 kHz, X1 = 40%, X2 = 3.2 kHz ( 100 – 40 ) ⋅ (8 kHz – 4 kHz ) X R [%] = 100 – ⎛ ---------------------------------------------------------------------------------------- + 40⎞ = 10 % ⎝ ⎠ 8 kHz – 3.2 kHz 10 X B = 1 – ----------- = 0.90 100
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6.14.3 Field Orientation Field orientation with absolute encoder (EnDat)
As soon as the absolute position of the encoder has been read, the absolute position and determined field angle are associated. The field angle is associated with the zero position of the encoder.
Field orientation via encoder with Z1 track
After switching on the control, the motor orients itself (rough orientation) via the Z1 track of the encoder. The drive is ready for operation after this procedure. The field angle is determined and associated as soon as the reference mark is traversed during the first motor motion.
Field orientation via the PLC
If a synchronous drive is used along with an encoder, and the field angle cannot be determined directly via the encoder, there is no assignment between the encoder and rotor magnets. The Field Orientation function, which must be carried out once per switch-on procedure, is used by the iTNC 530 to determine the association between the encoder and rotor magnets (field angle), and stores this information internally. Note Please pay attention to the following notes for determining the field angle: HEIDENHAIN generally recommends using either encoders with absolute values or encoders with Z1 tracks. With these encoders the field angles are available immediately after switch-on, so no additional efforts are necessary to determine them. The field angle can be determined only if the current controller is already adjusted! Regarding the motor.mot motor table, the field orientation must be performed for the following drives: Linear motor with absolute encoder with EnDat interface (SYS = 3) Synchronous or torque motor with nonaligned rotary encoder with EnDat interface (SYS = 5) Synchronous or torque motor with incremental rotary encoder without Z1 track (SYS = 6); one reference mark per revolution Synchronous or torque motor with incremental rotary encoder with distance-coded reference marks (SYS = 7) Linear motor with incremental linear encoder with distance-coded reference marks (SYS = 8)
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Methods of the iTNC for determining the field angle The iTNC has various possibilities for orienting the field angles for the various controller units (CC). The following describes the methods for the CC 422 via MP2254.x (see “Field Orientation” on page 7 – 27 for the CC 424): Automatic field orientation (when starting the control; with motion of the motor) Field orientation via soft key (during commissioning; with motion of the motor). This method determines the field angle more accurately than the “Automatic field orientation.” Danger An encoder with absolute values or an encoder with a Z1 track must be used when determining the field angles for hanging axes (or braked axes that could move on their own). If the speed encoder is exchanged, the Field Orientation function must be rerun. Note For synchronous spindles, the field angle should be determined via the FIELD ORIENT. soft key, since this is a more exact determination. Note Standstill monitoring is active while during both methods for determining the field angle. If it responds, increase the threshold in MP1110.x. Afterwards, reset MP1110.x to the original value. As of NC software 340 422-03 and 340 480-03, you can set the threshold for standstill monitoring during the field orientation separately in MP1120.x.
September 2006
MP2254.x Input:
Determining the field angle 0: Automatic field orientation, soft-key has no function 1: Only CC 422: Field orientation via soft key; motor motion is permitted
MP1120.x Input:
Standstill monitoring when determining the field angle 0.0000 to 300.0000 [mm] or [°]
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Automatic field orientation (MP2254.x = 0)
For motors that are configured in the motor table as listed above, the field angle can be determined for supported axes through a slight motion of the drive. This motion is so small that the field angle can be determined without any special precautions. The field angle is determined automatically when the drive is first switched on. The motor moves back and forth for approximately four to six seconds. The Finding field angle message appears. Do not brake the drive during this motion. The drive is ready for traverse after the field orientation has completed. The determined field angle is associated precisely and stored as soon as the reference mark is passed over during the first traverse motion. Possible error messages If the power module is not active before the determination of the field angle begins, the error message 8B40 No drive release appears. If the power module switches off during the determination, 8B50 Axis module not ready appears. At the same time, if the tolerance set in the standstill monitoring is too small (MP1110.x or MP1120.x), the message Standstill monitoring appears.
Field orientation via soft key (MP2254.x = 1)
By pressing the FIELD ORIENT. soft key once during commissioning of the motor. After pressing the soft key, the motor rotates. The field angle is determined and stored during this motion. This field angle is used when the motor is switched on again. Procedure for determining the field angle via the FIELD ORIENT. soft key (MP2254.x = 1) 8
Switch on the control.
8
Do not acknowledge the Power Interrupted message. In the Programming and Editing mode of operation, use the MOD key to enter the code number 688379. The oscilloscope is started.
8
Press the I CONTROL soft key.
8
In the Manual mode of operation, acknowledge the Power Interrupted message.
8
Use the CHOOSE AXIS soft key in the oscilloscope to select the corresponding axis.
8
Press the FIELD ORIENT. soft key. The PLC must • switch the drive on/off • release and lock the brakes
The motor rotates back and forth for several minutes. The field angle is determined for the reference mark or datum, and is stored automatically. The Finding field angle message appears. 8
Press the END soft key.
The control carries out a reset. Then the assignment of the field angle is available.
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Saving the determined field angle
NC software: 340 420-xx, to 340 422-02 and to 340 480-03 The determined field angle is automatically stored on the hard disk. If the Field Orientation function is not run, the following error message appears: Encoder with EnDat interface: 8830 EnDat: no field angle Encoder without Z1 track: 8820 Field angle unknown NC software: as of 340 422-03, as of 340 480-03 The determined field angle is automatically entered in MP2556.x (see “Definition of the Field Angle” on page 7 – 39). For purposes of reliability and redundancy, either the serial number of the encoder (only for EnDat interface) or a unique control ID is entered as identification in MP2257.x. If the current identification does not match the entry in MP2257.x, an error message appears: When using an encoder with EnDat interface, the error message 8830 EnDat: no field angle appears. In any case the field angle must be determined anew, since the encoder does not match the field angle from MP2256.x When using an incremental encoder, the error message MP2257. incorrect (ID=$) appears. The field angle from MP2256.x and the new identification (ID=$) for MP2257.x can only be assumed after determining that the same drive is meant (e.g. after changing controls). Danger In all other cases the field angle must be determined anew, since otherwise uncontrolled drive motions could occur! MP2256.x Input:
Determined field angle 0: Field angle does not need to be determined, or has not been determined
MP2257.x
Control or encoder identification for the field angle from MP2256.x 0: Field angle does not need to be determined, or has not been determined
Input:
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6.14.4 Preparation Proceed as follows:
dc-link voltage
8
Check the wiring against the grounding diagram and the safety concept (See “Basic Circuit Diagram” at the end of Chapter 3).
8
Check the control-is-ready function. See “EMERGENCY STOP Monitoring” on page 269.
8
Check the EMERGENCY STOP circuit by pressing the EMERGENCY STOP buttons and the EMERGENCY STOP limit switch.
8
Select the current machine parameter file. Determine input values using the documentation on hand. Enter temporary values for machine parameters that must be optimized during commissioning.
8
Create a PLC program for interfacing the control to the machine (use the PLC development software PLCdesign).
8
Ensure that in the system file OEM.SYS the instruction PLCMAIN= refers to the current PLC program.
The iTNC 530 uses the dc-link voltage to calculate the maximum motor voltage: 8
In MP2190, enter the dc-link voltage at the power module.
MP2190 Input:
8
Temporary input values
DC-link voltage UZ 0 to 10 000 [V] HEIDENHAIN inverters: Non-regenerative: 565 V Regenerative: 650 V
Enter the following temporary input values when you begin commissioning:
MP
Temporary input value
Meaning
MP20.0
%00000000000000
Monitoring the absolute position of the distance-coded reference marks
MP1030.x
0.01
Positioning window
MP1054.x
?
Linear distance of one motor revolution (depends on the machine)
MP1090.x
1
Maximum permissible jerk on the tool path
MP1092
Feed rate threshold from which MP1090.1 becomes effective
MP1095
0
Single filter
MP1096.x
0
Position nominal value filter off
MP1099.0
5
Minimal filter order for single filters
MP1099.1
3
Minimal filter order for double filters
MP1110.x
2.0
Standstill monitoring
MP1140.x
0.03
Movement monitoring (for digital axes the minimum value is entered)
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MP
Temporary input value
Meaning
MP1144.x
0
Motion monitor for position and speed
MP1340.x
0
No evaluation of reference marks
MP1396.x
Feedback control with velocity semi-feedforward
MP1410.x
0.5
Position monitoring in operation with velocity feedforward control (erasable)
MP1420.x
2
Position monitoring in operation with velocity feedforward control (EMERGENCY STOP)
MP1510.x
1
kv factor for velocity feedforward control
MP1521.x
0
Transient response during acceleration and deceleration
MP1710.x
50
Position monitoring in operation with following error (erasable)
MP1720.x
50
Position monitoring in operation with following error (EMERGENCY STOP)
MP1810.x
1
kv factor for control with following error
MP1820.x
1
Multiplier for the kv factor
MP1830.x
100
Characteristic curve kink point
MP2220.x
%0000100
Monitoring functions
MP2420.x
0
Proportional factor of the current controller
MP2430.x
0
Integral factor of the current controller
MP2500.x
0.5
Proportional factor of the speed controller
MP2510.x
20
Integral factor of the motor speed controller (for axes with holding torque, e.g. vertical axes, the value 1 must be entered because otherwise the axis drifts away)
MP2512.x
0
Limiting the integral-action component of the speed controller
MP2520.x
0
Differential component of the speed controller
MP2530.x
0
PT2 element of the speed controller
MP2540.x
0
Band-rejection filter damping
MP2550.x
0
Band-rejection filter for center frequency
MP2600.x
0
Acceleration feedforward
MP2602.x
0
IPC time constant T1
MP2604.x
0
IPC time constant T2
MP2606.x
0
Following error in the jerk phase
MP2610.x
0
Friction compensation at low motor speed
MP2612.x
0
Delay of the friction compensation
MP2620.x
0
Friction compensation at rated speed
MP2630.x
0
Holding current
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Additional temporary input values for the spindle
8
Enter the following additional temporary input values when you begin commissioning the spindle:
MP
Temporary input value
Meaning
MP3010.x
3 to 8
Output of speed, gear range
MP3020
991
Speed range
MP3411.x
1.999
Ramp gradient
MP3412.x
1
Multiplier for MP3411.x
MP3415.x
0
Overshoot behavior
MP3420
1
Positioning window
MP3440.x
1
kv factor
Note C-axis operation must be deselected for commissioning, meaning that no identical PWM outputs may be entered in MP120.x and in MP121.x. Operating-mode switchover
During commissioning you can switch between operating mode 0 and operating mode 1 with the CONNECT STAR DELTA soft key. With Module 9168 you can interrogate the current settings in the PLC. You can switch the motor using PLC outputs and activate the corresponding machine parameters with Module 9163: 8
Perform the adjustment for operating mode 0 and operating mode 1. • If you do not use operating mode 1, set the corresponding machine parameters to zero.
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6.14.5 Commissioning Digital Control Loops with TNCopt In order to commission digital control loops with TNCopt, you must carry out preparations on the control as described in this chapter. Also pay attention to the notes in the documentation for TNCopt. Functions not supported by TNCopt must be commissioned manually (see “Commissioning of Digital Axes” on page 6 – 340 and see “Commissioning the Digital Spindle” on page 6 – 368). When commissioning with TNCopt, the machine axes must be moved. For safety purposes, a function of this type should be enabled on the control. The entry TNCOPT.LOCKSOFTKEYVISIBLE = YES in OEM.SYS makes the soft key TNCOPT OFF ON visible after pressing the MOD key. It is used to enable such functions. As a default, the soft key is always set to OFF when the control is started up. Current controller
September 2006
8
Switch on the control.
8
Do not acknowledge the Power Interrupted message. In the Programming and Editing mode of operation, use the MOD key to enter the code number 688379 or 807667 (followed by the DIAGNOSIS and DRIVE DIAGNOSTICS soft keys) to switch to the Drive Diagnostics mode of operation.
8
Press the I CONTROL soft key.
8
Acknowledge the Power Interrupted message in the Manual mode of operation.
8
Switch on the control voltage.
8
Switch to the Oscilloscope mode of operation.
8
Press the START STEP soft key.
8
Commission the current controller with TNCopt.
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Speed controller
8
Position the axis or spindle to be optimized at a location where it can be commissioned safely.
8
Set MP1340.x = 0 to deselect evaluation of the reference marks.
8
Ensure that the loaded PLC program fulfills the following conditions:
Position control loop is opened, because the NC opens the position control loop only during the step function. If the position controller is not optimized, error messages appear if the position control loop is closed. Enable the drive controller NC stop inactive Axis direction buttons active Axes clamped
Feedforward
8
In the Programming and Editing mode of operation, use the MOD key to enter the code number 688379 to switch to the Drive Diagnostics mode of operation.
8
Press the OSCI soft key.
8
Set the following values in the Oscilloscope: Output: Step Feed rate: 100 Channel 1: I nominal Trigger: Free run
8
Press the OSCI soft key to switch the curve representation.
8
Press the START soft key to start recording.
8
Set the feed-rate override potentiometer to 100%.
8
Commission the speed controller with TNCopt.
8
Position the axes to a location where the feedforward functions can be commissioned safely.
8
Set the datum for the affected axes at this location.
8
In MP1060.x, set the acceleration to 0.5.
8
In the Program Run, Full Sequence mode of operation, select the NC program FF_*.H (* = axis to be optimized) from the TNC:\TNCOPT folder. Note TNCopt generates the NC programs FF_*.H with the feed-rate values 6000 and 200. The larger feed-rate value should equal the machine’s highest machining feed rate. Adjust the value if necessary. The lower feed-rate value must not be changed.
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8
Set the feed-rate override potentiometer to 100%.
8
Commission the feedforward functions with TNCopt.
HEIDENHAIN Technical Manual iTNC 530
Reversal spikes
IPC and kV factor
8
Position the axes to a location where the reversal-spike compensation can be commissioned safely.
8
Set the datum for the affected axes at this location.
8
In MP1060.x, set the acceleration to 0.5.
8
In the Program Run, Full Sequence mode of operation, select the NC program CIR_*#.H (* = axis to be optimized; # = second control loop, defines the plane) from the TNC:\TNCOPT folder.
8
Set the feed-rate override potentiometer to 100%.
8
Commission the reversal-spike compensation with TNCopt.
8
Position the axes to a location where the IPC and kV factor can be commissioned safely.
8
Set the datum for the affected axes at this location.
8
Set the kV factors in MP1510.x to 1. You can also start with a higher value for MP1510, as long as the value is safely below the oscillation limit.
8
In the Program Run, Full Sequence mode of operation, select the NC program IPC_*.H (* = axis to be optimized) from the TNC:\TNCOPT folder.
8
Set the feed-rate override potentiometer to 100%. Note Ensure that the machine parameters for the IPC (MP2602.x, MP2604.x and MP2606.x) have been set to 0.
8
September 2006
Adjust the IPC and kV factor with TNCopt.
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6.14.6 Commissioning of Digital Axes The iTNC must be adjusted in sequence for the: Current controller Speed controller Position controller The signals that you need are recorded with the integral oscilloscope. Current controller
Use the integrated oscilloscope to adjust the current controller. The speed and position control loops are open when you adjust the current controller. You must therefore activate a special PLC commissioning program: 8
Enter the name of this PLC program in the OEM.SYS file with the PLCPWM = instruction.
It suffices to program an EM (end module). The drive must be enabled externally and the iTNC needs the “ready” signal. As soon as the PLC program defined with PLCPWM = is active, you can use Module 9168 to interrogate the commissioning status. Module 9168 Interrogating the commissioning status Call: CM 9168 PL D –1: Commissioning not active or as yet no axis is selected Bits 0 to 5 represent selected axes 1 to 6 Bit 15 – Spindle selected Bit 16 – Operating mode of spindle 0: Operating mode 0 1: Operating mode 1
Adjusting the current controller: 8
Switch on the control.
8
Do not acknowledge the Power Interrupted message. In the Programming and Editing mode of operation, use the MOD key to enter the code number 688379 or 807667 (followed by the DIAGNOSIS and DRIVE DIAGNOSTICS soft keys) to switch to the Drive Diagnostics mode of operation.
8
Press the I CONTROL soft key.
8
In the Manual mode of operation, acknowledge the Power Interrupted message.
8
Use the CHOOSE AXIS soft key in the oscilloscope to select the axis to be adjusted.
8
With the I FACTOR / P FACTOR soft key, select the I factor and set MP2430.x = 0.
8
With the I FACTOR / P FACTOR soft key, select the P factor.
8
Calculate the starting value of the P factor with the following formula: Starting value =
100 000 · L Ta
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Ta
fPWM (MP2180.x)
150
3 333 Hz
120
4 166 Hz
100
5 000 Hz
75
6 666 Hz
60
8 333 Hz
50
10 000 Hz
Synchronous motor:
Asynchronous motor:
L =
XH --------------------------------------2 ⋅ π ⋅ ( F-N ) ⋅ 1000
L =
XStr1 + XStr2 --------------------------------------2 ⋅ π ⋅ ( F-N ) ⋅ 1000
The values for XH (magnetizing reactance), F-N (rated frequency), XStr1 (stator leakage reactance) and XStr2 (rotor leakage reactance) can be found in the motor table. Switch to the editing mode of the motor table (APPEND MOTOR soft key). The values for XH, XStr1 and XStr2 are specified in [mΩ] in the motor table. Use these values in the formulas. The formula already contains the conversion factor. 8
Set this P factor (MP2420.x) with the ↑ soft key.
8
Press the START STEP soft key. This sends a step function to the current controller and measures the step response. The height and length of the step function are automatically calculated by the iTNC.
8
With the ↑ soft key, increase the P factor (MP2420.x) step by step until just barely no undershoot is visible.
MP2420.x too small
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MP2420.x too large
MP2420.x optimum
8
Save this value with the STORE MP2420.x soft key.
8
With the I factor / P factor soft key, select the I factor.
8
With the ↑ soft key, increase the I factor (MP2430.x) step by step until • Spindle: Just barely no overshoot is visible, and so that the nominal value is reached as quickly as possible (short rise time). • Axes: You see an overshoot but no undershoot.
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MP2430.x too small
Axes: MP2430.x optimum
Spindle: MP2430.x optimum
September 2006
8
Save this value with the STORE MP2430.x soft key.
8
Press the END key to exit the Commission Current Controller mode.
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Speed controller
Adjusting the speed controller: 8
Deselect “Pass over reference point” by setting MP1340 = 0.
8
Ensure that the loaded PLC program fulfills the following conditions: • Position control loop is opened (W1038/W1040), because the NC opens the position control loop only during the step function. If the position controller is not optimized, error messages appear if the position controller is closed. • Servo drive controller is enabled (Module 9161) • NC stop is inactive, MP4560 = 1 • Axis direction buttons active • Axes clamped
8
In the MANUAL mode, use the oscilloscope function to select a step function (approx. 500 mm/min) that will not overdrive the speed controller, i.e. that does not limit I NOMINAL. Display the nominal velocity value V (NOM RPM), the actual speed value V (ACT RPM) and the nominal current value I NOMINAL.
8
Activate the step function with the axis direction buttons.
8
To change the machine parameters, press the MP EDIT soft key in the setup menu.
8
Increase MP2500.x (P factor) up to the oscillation limit.
MP2500.x at the oscillation limit
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MP2500.x too small
MP2500.x too large
8
September 2006
Input value for MP2500.x = · 0.6
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8
Compensate high-frequency interference oscillations (> 400 Hz) with MP2530.x or MP2560.x.
MP2530.x at optimum setting
MP2530.x too small
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MP2530.x too large
Warning You can use MP2520.x to compensate low-frequency oscillation (< 100 Hz) on axes with mechanical problems. However, HEIDENHAIN recommends that you avoid using MP2520.x if possible. Do not use for axes with belt drive!
You can also compensate disturbance oscillations with the band-rejection filter: 8
Calculate the frequency of the oscillation and enter it in MP2550.x.
8
Increase the band-rejection filter damping in MP2540.x until the interfering oscillation is minimized. Realistic input values: 3 to 9 [dB] Note The compensation dampens the control loop. Try first to remove the mechanical causes of the disturbance oscillations. To reduce the occurrence of disturbance oscillations, HEIDENHAIN recommends the use of motor couplings with a low tendency to oscillate (e.g. from the Rotex Company).
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8
Increase MP2510.x (I factor) until you see one overshoot followed by a slight undershoot and the settling time toff is as small as possible (realistic value: 3 ms to 15 ms)
toff
MP2510.x at optimum setting
MP2510.x too small
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MP2510.x too large
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Determining the acceleration
8
Clamp an object of maximum permissible weight on the machine table.
8
Enter the rapid traverse as step height.
8
During the step response, record the step response of the nominal velocity value V (NOM RPM), the actual speed value V (ACT RPM), and the nominal current value (I NOMINAL). It is permissible to limit the nominal current value I NOMINAL during acceleration.
8
From the step response of the speed controller you determine the maximum possible acceleration (incl. 10% safety margin). F max a = -----------------------------t an ⋅ 66 000
a: Acceleration [m/s2] Fmax : Maximum machining feed rate (MP1010.x) [mm/min] tan : Rise time [s]
Check the counting direction
Position Controller
8
Enter the maximum possible acceleration in MP1060.x.
8
On the oscilloscope, set TRIGGER to FREE RUN.
8
To start recording:
8
Change to MANUAL operating mode.
8
Press the axis direction buttons.
8
Check the counting direction on the display and if necessary, correct it with MP210.x.
Adjusting the position control loop: 8
Activate a PLC program that is adapted to the machine.
8
Ensure that the position control loop is closed (W1038/W1040) and all inputs/outputs are properly operated.
8
Optimize the position control loop in the following 12 steps:
If the position controller still oscillates after optimization, check the I factor (may be too high). 1. Check the traversing direction (see flowchart): 8
6 – 350
In MP1340.x, enter the sequence in which the reference points are to be traversed.
HEIDENHAIN Technical Manual iTNC 530
Switch-on the line voltage
Edit machine parameters?
YES MP210 MP1040 MP1320 are edited
Delete power interruption with CE Switch-on the machine control voltage.
Standstill monitoring ?
NO
Traverse the reference marks with the axisdirection buttons
YES Press END Change MP1040 or MP210
YES
Traverse the reference marks with the Start key
Traverse direction correct?
YES
YES
Switch-off the line voltage Edit MP1320
Traverse direction correct?
Switch-off the line voltage Edit MP210 and MP1040 Done
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Commissioning
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2. Set the traverse range: You can enter up to three traverse ranges. See “Traverse Ranges” on page 6 – 20. Define the software limit switches as follows: 8
In the MANUAL operating mode, press the MOD key to select the REF display. The position displays show the distance to the machine datum (MP960.x).
8
With the axis direction buttons or the handwheel, move all axes in positive and negative direction until they almost reach the EMERGENCY STOP limit switches. Write down the displayed positions with algebraic sign.
8
Enter the noted values in MP91x.x and MP92x.x.
8
Press the MOD key and select the ACTL display.
3. In MP1391 or MP1392, select the type of control: For control with velocity feedforward: 8
6 – 352
Enter the temporary input values.
Machine parameters
Temporary input value
MP1391 or MP1392
Set to velocity feedforward control
MP1090.0 MP1090.1
Enter a very small jerk, e.g. 1 (dependent on the machine)
MP1092
MP1095
0
MP1096.x
0
MP1099.0
5
MP1099.1
3
MP1396.x
1
MP1521.x
0
8
Enter the following test program: LBL 1 L X R0 FMAX LX0 FMAX CALL LBL1 REP 100/100
8
Display the actual feed rate (v actual) with the integrated oscilloscope and, if necessary, also show the following error (lag).
8
Start the test program with feed-rate override = 100%.
8
In MP1090.0 increase the jerk until the overshoot just disappears.
HEIDENHAIN Technical Manual iTNC 530
MP1090.x at optimum setting
MP1090.x too large
MP1090.x too small
September 2006
Commissioning
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8
Enter the jerk determined from MP1090.0 in the axis-specific parameters MP1241.x and MP1242.x (previously MP1097.x and MP1098.x), and also in MP1086.x, MP1087.x and MP1089.x if required.
8
Increase the kv factor until the oscillation limit is reached.
8
Calculate MP1510: MP1510.x = · 0.6
Oscillation limit has been reached
kv factor too large Unlike in operation with following error, you can also enter the optimum kv factor for interpolated axes. You can save a number of different kv factors in the iTNC and activate them with M functions (see “The Control Loop” on page 6 – 158). MP1090.x applies to all axes. The worst axis determines the input value.
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HEIDENHAIN Technical Manual iTNC 530
Procedure: 8
Load the axis-specific values in MP1241.x and MP1242.x (or MP1097.x and MP1098.x if using MPMODE=340422 in OEM.SYS).
8
Reduce the adjusted jerk (MP1090.0) depending on the mechanical design of the machine. Do not set the jerk lower than necessary, however, because this strongly reduces the dynamic performance. • If at optimized jerk the maximum acceleration is not reached during the acceleration phase, enter the maximum machining feed rate in MP1092. In this case, define a higher jerk for high feed rates (> MP1092) to increase acceleration at these feed rates.
To select the nominal position value filter: 8
Run a test program of short line segments.
8
Use the oscilloscope to record the following error for each axis.
8
Determine for each axis the oscillations on the following error. If you cannot find any oscillations, increase the jerk for the test in order to excite oscillation in the axes. Remember after the test to reset the jerk for each axis to its original value.
8
Choose the appropriate type of filter characteristics from the description of the nominal position value filters on page 6 – 166 (or starting from page 6 – 177 the input values for the nominal position value filters up to software version 340 422-12). Consider the lowest determined frequency and the desired damping at this frequency.
8
With MP1200 and MP1201 (previously MP1094 and MP1095) you select the single, double, HSC or advanced HSC filter.
8
Test the three filter settings using a test part made of short line segments. • Single filter • Double filter • HSC filter • Advanced HSC filter Note If you have selected the best nominal position value filter for your application, please note that your input value from MP1096.0 can be overwritten by the machine user through Cycle 32. If you have switched off the nominal position value filter (MP1096.x = 0), the machine user can also switch it on using Cycle 32.
September 2006
Commissioning
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Control with following error (servo lag): The adjusted maximum jerk works during operation with following error. MP1090 is not changed. Procedure: 8
Check the temporary input values for the machines parameters
8
Specify the kv factor for the machining feed rate:
8
Enter the following test program: LBL1 L X R0 F L X0 R0 F CALL LBL1 REP 100/100
8
Display the actual feed rate (v actual) with the internal oscilloscope.
8
Start the test program with feed-rate override = 100%.
8
Increase the value in MP1810.x up to the oscillation limit.
8
Calculate MP1810.x: MP1810.x = · 0.6
MP1810.x at the oscillation limit For axes that are interpolated with each other, the kv factors must be equal. The axis with the smallest kv factor defines the input value for all axes. You can save a number of different kv factors in the iTNC (MP1815.x) and activate them with M functions (see “The Control Loop” on page 6 – 158). Procedure for defining a characteristic curve kink point: 8
kv factor for rapid traverse (characteristic curve kink point): MP1830.x =
Max. contouring feed rate · 100 % Rapid traverse
MP1820.x = 1
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Set to operation with following error. 8
Enter the following test program: LBL2 L X R0 FMAX L X0 R0 FMAX CALL LBL1 REP 100/100
8
Start the test program.
8
Display the actual feed rate (v actual) with the internal oscilloscope: • If no oscillations are recognizable, no kink point is required. • If oscillations are visible, you must reduce MP1820.x until the oscillations have disappeared.
MP1820.x at optimum setting
MP1820.x too small
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MP1820.x too large 4. Switch on the nominal position value filter: 8
6 – 358
In MP1096.x, enter a defined tolerance (e.g. 0.02 mm).
HEIDENHAIN Technical Manual iTNC 530
5. Activate monitoring functions Note To ensure that the monitoring functions become effective at the right moment, you must enter meaningful values. HEIDENHAIN recommends the following input values. You must change these values slightly to adapt them to the design of the machine. MP
Temporary input value
Meaning
MP1030.x
0.01 mm
Positioning window
MP1110.x
2 · MP1030.x
Standstill monitoring
MP1140.x
0.03 [1000 rpm]
Movement monitoring
MP1144.x
0.5 mm
Motion monitor for position and speed
MP1410.x
0.5 mm
Position monitoring in operation with velocity feedforward control (erasable)
MP1420.x
2 mm
Position monitoring in operation with velocity feedforward control (EMERGENCY STOP)
MP1710.x
1.2 · following error in rapid traverse
Position monitoring in operation with following error (erasable)
MP1720.x
1.4 · following error in rapid traverse
Position monitoring in operation with following error (EMERGENCY STOP)
6. Compensate the backlash: If the cause of the backlash is outside of the control loop: 8
Enter the backlash in MP710.x.
If the cause of the backlash is inside of the control loop: 8
Enter the following test program: LBL 1 L X100 R0 F10 L X0 CALL LBL 1 REP 100/100
8
Use the internal oscilloscope to record V ACTUAL and V (ACT RPM). At the reversal point the actual feed rate follows the actual shaft speed by the time delay t.
8
Set the machine parameters: • MP750 = t · ΔV ACTUAL (keep in mind the units for t and ΔV ACTUAL) • MP752 = Approx. 20 ms (determined in test) ΔV ACTUAL = ⏐V ACTUAL – V (ACT RPM)⏐
September 2006
Commissioning
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7. Compensate the static friction: 8
Enter the backlash, if any exists.
8
Enter the following test program (static friction in the Y axis): LBL 1 L X+400 IY+0.5 R0 F200 L X0 IY+0.5 R0 CALL LBL1 REP 100/20
8
Set the machine parameters: • MP1511.x = 0 • MP1512.x = 20 • MP1513.x = 0
6 – 360
8
With the integrated oscilloscope, display the following error in the Y axis (Y SDIFF).
8
Start the program and adjust the feed-rate override so that the following error caused by static friction becomes visible.
8
Increase the feed rate until the following error is no longer measurable.
8
From the current contouring feed rate, calculate the feed rate specific to the Y axis and enter the value in MP1513.1.
8
Adjust the feed rate until the following error is measurable again.
HEIDENHAIN Technical Manual iTNC 530
8
Increase MP1511.x in increments of 10 000 until the following error is no longer measurable.
If the machine oscillates at a standstill: 8
Decrease MP1512.x.
8. Limit the integral factor of the shaft speed controller Very high static friction can cause an axis to jerk loose and “jump” around the target position. 8
September 2006
Increase MP2512.x until the axis remains stationary.
Commissioning
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9. Adjust the holding moment: 8
Enter the following test program (static friction in axis Z): LBL 1 L Z+2 R0 F50 L Z-2 R0 F50 CALL LBL 1/10
8
Use the integrated oscilloscope to record the actual shaft speed (ACT RPM) and the nominal current value (I NOMINAL).
8
Start the program.
8
With the feed rate override knob, adjust the motor speed to 10 rpm (MP1054.x).
8
Determine the current (I NOMINAL) in both directions of rotation.
8
Calculate MP2630.x:
MP2630.x =
I NOML1 + I NOML2 2
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HEIDENHAIN Technical Manual iTNC 530
10. Compensate the sliding friction: 8
Select operation with velocity feedforward control.
8
Enter the following test program (sliding friction in the X axis): LBL 1 L X+2 R0 F50 L X-2 R0 F50 CALL LBL 1/10
8
Use the integrated oscilloscope to record the actual shaft speed (ACT RPM) and the nominal current value (I NOMINAL).
8
Start the test program.
8
With the feed rate override knob, adjust the motor speed to 10 rpm (MP1054.x).
8
Determine the current (I NOMINAL) in both directions of rotation.
8
Calculate MP2610.x:
MP2610.x =
I NOML1 + I NOML2 2
September 2006
8
Change the test program so that the motor rotates at its rated speed.
8
Restart the test program.
8
Determine the current (I NOMINAL) for the rated shaft speed.
Commissioning
6 – 363
8
Calculate MP2620.x:
MP2620.x =
I NOML1 – I NOML2 2
In the event that the motor cannot be driven at the rated speed: 8
Measure I NOMINAL at maximum speed (rapid traverse) and calculate the current at rated speed as follows:
MP2620.x =
(Imax – MP2610.x) ·
+ MP2610.x
nmax Inmax: Current at rapid traverse nmax: Shaft speed at rapid traverse
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HEIDENHAIN Technical Manual iTNC 530
11. Check the acceleration feedforward: 8
Select operation with velocity feedforward control.
8
Enter the following test program: LBL 1 L X+100 R0 F5000 L X-100 R0 F5000 CALL LBL 1/10
8
Use the integrated oscilloscope to record the actual shaft speed (ACT RPM), the nominal current value (I NOMINAL), and the integral-action component of the nominal current value I (INT RPM).
8
Start the test program.
8
Adjust the speed with the feed-rate override knob so that I NOMINAL is not limited.
8
Measure the gradient of the acceleration ramp in the part in which I (INT RPM) remains constant.
8
Calculate MP2600.x:
MP2600.x =
I (INT RPM) [A] ⋅ t [s] ⋅ 60 [s/min] ⋅ MP1054.x [mm] ΔV (ACT RPM) [mm/min]
I (INT RPM) = Integral-action component of the nominal current value t = Acceleration time in which I (INT RPM) remains constant ΔV (ACT RPM) = Change of actual rpm during t MP1054.x: Traverse distance per motor revolution 8
September 2006
Repeat this measurement to check the input value of MP2600.x. I (INT RPM) must have approached zero.
Commissioning
6 – 365
12. Run the circular test: With the circular test you can check the exact input values for compensating sliding friction: 8
Determine the radial acceleration: MP1070 = 0.7 · MP1060.x MP1060.x represents the smallest acceleration in the working plane.
8
At mid-range feed rate (approx. 500 mm/min) check the parameter MP2610. At the optimum setting the reversal peaks are at a minimum.
At feed rates greater than approx. 6000 rpm the reversal peaks might point inward as a result of overcompensation: 8
6 – 366
In this case, increase MP2612.x until the reversal peaks no longer point inward.
HEIDENHAIN Technical Manual iTNC 530
✎
September 2006
Commissioning
6 – 367
6.14.7 Commissioning the Digital Spindle Current controller
Same procedure as for digital axes.
Speed controller
Define the step function:
6 – 368
8
In MP3411.x, enter the maximum acceleration and start the step by switching the spindle on.
8
Activate a spindle speed from the highest gear range.
8
With the integrated oscilloscope, record the nominal velocity value V (NOM RPM), the actual speed value V (ACT RPM), and the nominal current value (I NOMINAL).
8
Output a step by activating the spindle-on function (M03/M04).
8
Choose the height of the step function for a very low speed so as not to overload the speed controller, i.e. so that I NOMINAL is not limited.
8
Increase the P factor (MP2500.x) until the system oscillates or no change is visible. To edit machine parameters, press the MP EDIT soft key in the Setup menu.
8
Calculate MP2500.x: MP2500.x = MP2500.x · 0.6
HEIDENHAIN Technical Manual iTNC 530
8
September 2006
Increase the I factor (MP2510.x) until you see one overshoot followed by a slight undershoot.
Commissioning
6 – 369
8
Output the step with maximum shaft speed. I NOMINAL is within the limitation during acceleration. I NOMINAL must not oscillate after reaching the maximum speed. If I NOMINAL oscillates: • Reduce MP2500.x and MP2510.x evenly until the overshoots are minimized.
I NOMINAL oscillating
Only one overshoot
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HEIDENHAIN Technical Manual iTNC 530
Optimize the acceleration: 8
Optimize the acceleration individually for each gear range.
8
Choose a ramp gradient at which the motor almost reaches the electrical current limit, and set it with MP3411.x.
8
In MP3412.0, enter a factor for MP3411.x that becomes effective in the braking ramp with M05. It is the electrical current limit that is braked.
In the TAPPING and SPINDLE ORIENTATION modes, I NOMINAL must not reach the limit for acceleration: 8
In MP3412.x, enter a factor for MP3411.x for these operating modes.
8
With MP3415.x, specify an individual overshoot behavior for every spindle operating mode. Adapt the nominal value trace to the actual trace.
Checking the direction of rotation You can check the direction of rotation of the spindle when M03 is output. If the spindle does not rotate in clockwise direction: 8
September 2006
Modify MP3130.
Commissioning
6 – 371
Position controller
The position control loop of the spindle is closed only during the spindle orientation: 8
Close the position control loop of the spindle. See “Oriented Spindle Stop” on page 6 – 290. • If the error message “Nominal speed value S too high” appears, you must modify MP3140.
8
6 – 372
Optimize the kv factor (MP3440.x for each gear range. A TOOL CALL must be run to transfer the modified gear-specific MPs.
HEIDENHAIN Technical Manual iTNC 530
6.14.8 Commissioning an Analog Axis Temporary input values
8
Enter the following temporary input values when you begin
MP
Temporary input value
Meaning
MP1030.x
0.01
Positioning window
MP1090.x
1
Maximum permissible jerk on the tool path
MP1092
Feed rate threshold from which MP1090.1 becomes effective
MP1110.x
2.0
Standstill monitoring
MP1140.x
10
Movement monitoring
MP1410.x
0.5
Position monitoring in operation with velocity feedforward control (erasable)
MP1420.x
2
Position monitoring in operation with velocity feedforward control (EMERGENCY STOP)
MP1510.x
1
kv factor for velocity feedforward control
MP1710.x
50
Position monitoring in operation with following error (erasable)
MP1720.x
50
Position monitoring in operation with following error (EMERGENCY STOP)
MP1810.x
1
kv factor for control with following error
MP1820.x
1
Multiplier for the kv factor
MP1830.x
100
Characteristic curve kink point
Adjusting the servo amplifier Note For analog axes, you must adjust the servo amplifier before you optimize the position controller. Procedure: 8
Disconnect the nominal-value connection between the servo amplifier and the MC 42x(B).
8
Short-circuit the nominal value input on the servo amplifier. The input must have a 0 V voltage.
8
Activate control enabling at the servo amplifier.
8
Connect the supply voltage to the servo amplifier.
8
Perform a coarse offset adjustment: • If the axis moves in spite of the short-circuited nominal value input, you must adjust the offset potentiometer until the axis stops moving.
8
September 2006
Remove the jumper at the nominal value input and establish a nominal-value connection to the MC 42x(B).
Commissioning
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8
Perform a coarse velocity adjustment: • Set MP1010.x (rapid traverse) and MP1050.x (analog voltage at rapid traverse). • With the internal oscilloscope functions, output the nominal value step at the height for rapid traverse. • Record VOLT.ANALOG and check the voltage. • Use a tachometer to measure the rotational speed of the motor and a tacho-potentiometer at the servo amplifier to adjust the nominal speed for rapid traverse. • Connect an oscilloscope to the tachometer of the motor. • Test the step response on the tachometer during the step output.
8
Adjust the proportional (P) component and the integral-action (I) component of the speed controller at the servo amplifier.
Optimum
Determining the acceleration
Gain too large
Gain too small
After adjusting the servo amplifier, you can determine from the step response the maximum possible acceleration: F max a = -----------------------------t an ⋅ 60 000 a: Acceleration [m/s2] Fmax: Maximum machining feed rate (MP1010.x) [mm/min] tan: Rise time [s]
8
6 – 374
Enter the maximum possible acceleration in MP1060.x.
HEIDENHAIN Technical Manual iTNC 530
Position controller
Please note: Note For analog axes, you must adjust the servo amplifier before you optimize the position controller. Adjusting the position control loop: 8
Activate a PLC program that is adapted to the machine.
8
Ensure that the position control loop is closed (W1038/W1040) and all inputs/outputs are properly operated.
8
To optimize the position control loop take the following steps:
1. Check the counting/traversing direction (see flowchart)
September 2006
Commissioning
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Power on
YES
Change machine parameters ?
Change MP210 MP1040 MP1320
Press CE to clear POWER INTERRUPTED message. Switch on control voltage.
Standstill monitoring ?
NO
TRAVERSE REFERENCE POINTS with axis direction keys.
YES Press END. Change MP1040 or MP210. YES
TRAVERSE REFERENCE POINTS with start key.
Traverse direction correct? ?
YES
YES
Traverse direction correct? ? NO Power off. Change MP210 and MP1040.
Power off. Change MP1320. Finished
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2. Set the traverse range Same procedure as for digital axes. 3. Specify the type of control For control with following error, same procedure as for digital axes. For control with velocity feedforward control, same procedure as for digital axes. 4. Adjust the offset On the iTNC: see “The Control Loop” on page 6 – 158. 5. Activate monitoring functions 8
Enter the following temporary input values when you begin: see “Commissioning of Digital Axes” on page 6 – 340
6. Compensate the backlash Same procedure as for digital axes. 7. Compensate the static friction Same procedure as for digital axes. 6.14.9 Commissioning the Analog Spindle Adjusting the servo amplifier Same procedure as for analog axes. Acceleration Same procedure as for digital spindles. You measure the signals directly at the servo amplifier with an external oscilloscope. Direction of rotation Same procedure as for digital spindles. Position controller Same procedure as for digital spindles.
September 2006
Commissioning
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✎
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HEIDENHAIN Technical Manual iTNC 530
6.15 Block Diagram for iTNC 530 (with CC 422)
MC
CC
Axis
v t MP1060 MP1090 MP1092
P
D
PT1 n f
MP1521
D
MP1054
n
f MP1522 V(N NOML)
P
PT2
P
P
PT2
f MP1086 MP1087 MP1089 MP1200 MP1201 MP1202 MP1210 ... MP1213 MP1222 ... MP1223 MP1230 ... MP1233 MP1240 ... MP1243 MPMODE = 340 422 MP1094 MP1095 MP1096 MP1097 MP1098 MP1099
September 2006
MP1391 MP1392 MP1510 MP1516 MP1810
MP1054 I
I
MP2607 MP2608 D f
6 – 379
6.16 Block Diagram for iTNC 530 (with CC 424)
MC
CC
v
Axis
FEED RATE
t
f
P
D
MP1060 MP1090 MP1092
n MP2610 MP2612 MP2614
MP1521
S NOML
MP1054
n
f MP1522 Fine interpolation 3 ms f MP1086 MP1087 MP1089 MP1200 MP1201 MP1202 MP1210 ... MP1213 MP1222 ... MP1223 MP1230 ... MP1233 MP1240 ... MP1243
Position controller P
V(N NOML)
PID
MP1391 MP1392 MP1510 MP1516 MP1810
OSCI S ACTL
MP1054 max. 5 multifunction filters *) MP2542 ... MP2546 MP2552 ... MP2556 MP2562 ... MP2566 MP2572 ... MP2576 OSCI V ACTL
PT2
f
f
200 µs
PI
f
MP2500 MP2510 MP2512 MP2520 MP2604 MP2506 MP2607 MP2608
max. 5 multifunction filters *) MP2542 ... MP2546 MP2552 ... MP2556 MP2562 ... MP2566 MP2572 ... MP2576
*) Multi-function filters are used by the position and speed controllers; MP2562 = 1 ... 2 speed controller MP2562 = 11 ... 12 position controller
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6.17 Block Diagram for iTNC 530 (with Analog Control Unit)
Analog control unit (non HEIDENHAIN)
MC v
Axis
t MP1060 MP1090 MP1092
f
MP1521
D
f MP1522 Position controller P
Analog output
#/
f MP1086 MP1087 MP1089 MP1200 MP1201 MP1202 MP1210 ... MP1213 MP1222 ... MP1223 MP1230 ... MP1233 MP1240 ... MP1243
MP1391 MP1392 MP1510 MP1516 MP1810
MP1050
PID controller
t
X8, X9
MPMODE = 340 422 MP1094 MP1095 MP1096 MP1097 MP1098 MP1099
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7 CC 424 Controller Unit 7.1 Differences between the CC 424 and CC 422................................. 7 – 3 7.2 Connecting the Encoders ................................................................ 7 – 5 7.2.1 General Information ................................................................... 7 – 5 7.2.2 Position Encoders ...................................................................... 7 – 5 7.2.3 Speed Encoders ......................................................................... 7 – 5 7.3 Relationship between Speed Input and PWM Output ................. 7 – 6 7.4 Relationship between PWM Output and Position Input .............. 7 – 7 7.5 Single-Speed, Double-Speed, PWM Frequency ............................ 7 – 8 7.5.1 General Information ................................................................... 7 – 8 7.5.2 Prerequisites .............................................................................. 7 – 9 7.5.3 Machine Parameters .................................................................. 7 – 9 7.5.4 Setting the Controller Performance in MP 7610.x ..................... 7 – 9 7.5.5 PWM Frequency ...................................................................... 7 – 12 7.6 PLC Cycle Time ............................................................................... 7 – 14 7.7 Monitoring Functions .................................................................... 7 – 14 7.8 Special Functions ........................................................................... 7 – 15 7.8.1 Multifunction Filter ................................................................... 7 – 15 7.8.2 Filter Order for Separate Low-Pass in the Speed Controller .... 7 – 19 7.8.3 Dynamic Determination of Load .............................................. 7 – 19 7.8.4 LIFTOFF Function in Case of a Power Failure ......................... 7 – 21 7.8.5 TRC – Torque Ripple Compensation ........................................ 7 – 23 7.8.6 Peculiarities in Weakened-Field Operation .............................. 7 – 25 7.9 Stick-Slip Friction Compensation at Quadrant Transitions ....... 7 – 26 7.10 Field Orientation........................................................................... 7 – 27 7.10.1 Possibilities for Determining the Field Angle ......................... 7 – 29 7.10.2 Determination of the Field Angle without Motor Motion (MP2254.x = 0) ...................................................................... 7 – 32 7.10.3 Determination of the Field Angle with Motor Motion (MP2254.x = 2/3) ................................................................... 7 – 34 7.10.4 Reading or Setting the Field Angle via the PLC ..................... 7 – 36 7.10.5 Saving the Determined Field Angle ....................................... 7 – 38 7.10.6 Definition of the Field Angle .................................................. 7 – 39 7.11 Adjustment of Linear and Torque Motors ................................. 7 – 40 7.11.1 General Information ............................................................... 7 – 40 7.11.2 Safety Precautions for Linear and Torque Motors ................. 7 – 44 7.12 Commissioning Linear and Torque Motors ............................... 7 – 46 7.12.1 Machine Parameters for Linear Motors ................................. 7 – 46 7.12.2 Machine Parameters for Torque Motors ............................... 7 – 47 7.12.3 Adjustment of the Current Controller .................................... 7 – 47 7.12.4 Adjustment of the Speed Controller ...................................... 7 – 50 7.13 Determining Entries for Motor Tables ....................................... 7 – 57 7.13.1 Determining Data for Linear Motors ...................................... 7 – 57 7.13.2 Determining Data for Torque Motors .................................... 7 – 60
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HEIDENHAIN Technical Manual iTNC 530
7 CC 424 Controller Unit 7.1 Differences between the CC 424 and CC 422
Function
CC 424
CC 422
Hardware
Position encoder inputs X201 to No position encoder inputs on X206 and X207 to X210 on the the CC 422; they are on the CC 424 MC 42x(B)
Assignment of speed encoder inputs to the PWM outputs
Fixed assignment, MP112.x omitted
MP115.x, MP116.x
When using an MC 42x(B) MP115.x applies to the position without position encoder inputs, encoder inputs on the MC42x(B) MP115.x is omitted. Otherwise MP115.x applies to the position encoder inputs on the MC 42x(B); MP116.x applies to the position encoder inputs on the CC 424
PWM frequency
Can be set via MP2180.x (switchable during operation); the calculation of the currentcontroller cycle time must be adapted via MP2182.x
Can be set via MP2180.x (not switchable during operation)
Control loops can be switched from single speed to double speed for higher controller performance
Siehe “Single-Speed, DoubleSpeed, PWM Frequency” auf Seite 8.
–
Control-loop cycle times (at 5000-Hz PWM frequency) (position/velocity/current)
Single-speed: 200 µs/200 µs/100 µs Double-speed: 200 µs/100 µs/100 µs (with position encoder) 100 µs/100 µs/100 µs (without position encoder)
1.8 ms/0.6 ms/100 µs (at 5000-Hz PWM frequency)
Variable assignment via MP112.x
Following error in the jerk phase Typical input values: 0.001 to (MP2606.x) 0.005
Typical input values: 0.5 to 1
Stick-slip friction compensation (MP2610.x, MP2612.x, MP2614.x)
Feed-rate independent; MP2610.x same meaning as previously (effective values, readjustment necessary), MP2612 has new meaning MP2614.x is new
Feed-rate dependent; MP2610.x and MP2612.x (peak values)
Static friction compensation (MP1511.x, MP1512.x)
MP1511.x and MP1512.x can only be used for analog axes. MP2610.x, MP2612.x and MP2614.x should be used for digital axes.
MP1511.x and MP1512.x can be used for analog and digital axes. MP2610.x, MP2612.x and MP2614.x should be used for digital axes.
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Differences between the CC 424 and CC 422
7–3
Function
CC 424
CC 422
Multiplication factor for kV factor MP1820.x and MP1830.x are and kink point only supported for analog axes.
MP1820.x and MP1830.x are supported for analog and digital axes.
Filter in the speed control loop
MP2530.x, MP2540.x, MP2550.x and MP2560.x omitted, New machine parameters MP2542.x to MP2546.x, MP2552.x to MP2556.x, MP2562.x to MP2566.x, MP2572.x to MP2576.x, MP2560.x has new meaning
Filter setting via MP2530.x, MP2540.x, MP2550.x and MP2560.x
Master-Slave Torque Control
As of 340 422-06: The master and slave axis must The PWM outputs of the master be on the same speed controller and slave axes must always be PCB operated on the same DSP (“Single speed” setting); the control factors MP29xx.y differ from the CC 422, i.e. a new adjustment is necessary when exchanging a CC 424 and CC 422
Reading the absolute value of encoders with EnDat interface
The absolute value can be read The absolute value is only read out again via the PASS OVER when the control is started. REFERENCE soft key or via Module 9220 (i.e. after the exchange of milling heads).
MP2220.x
Bit 4: Monitoring for excessive Bits 4, 5, 6, 7 and 8 are without function temperature Bit 5: Monitoring for insufficient temperature Bit 6: Reserved Bit 7: Monitoring of encoder input frequency Bit 8: Adjust mechanical offset by gradually increasing the kV factor
MP2250.x, MP2252.x
Determining the field angle for nonaligned encoders
–
MP7602
PLC cycle time [ms]
–
MP7600.0
MP7600.x omitted, path Factor for position controller interpolation fixed at 3 ms (does cycle time; factor x 0.6 [ms] not influence the position controller cycle)
Display in internal oscilloscope and in TNCopt
Effective values
7–4
Peak values
HEIDENHAIN Technical Manual iTNC 530
7.2 Connecting the Encoders 7.2.1 General Information HEIDENHAIN contouring controls are designed for use with incremental linear and angular encoders as measuring systems. The encoder signals are interpolated 1024-fold. Encoders with one reference mark or distance-coded reference marks and with EnDat interface are permissible. Please use only HEIDENHAIN encoder cables, connectors and couplings. 7.2.2 Position Encoders Incremental position encoders with 1-VPP signals and absolute encoders with EnDat interface can be connected to the CC 424. 8
Set the encoder signal with MP116.0
8
With MP116.2, you set the maximum input frequency. Note The incremental track data must be entered for the corresponding position encoder inputs for encoders with EnDat interfaces.
MP116.0 Format: Input:
Position encoder input 1 VPP or 11 µAPP %xxxxxxxxxxxxxxx Bit 0 to bit 9: Linear encoder inputs X201 to X214 Bit 10: No function 0: 1 VPP 1: 11 µAPP
MP116.1 Format: Input:
Reserved %xxxxxxxxxxxxxxx Enter %00000000000
MP116.2 Format: Input:
Input frequency of position encoder inputs %xxxxxxxxxxxxxxx Bit 0 to bit 9: Linear encoder inputs X201 to X210 Bit 10: No function 0: 33 kHz For 1 VPP: 1: 350 kHz For 11 µAPP: 0: 33 kHz 1: 150 kHz
7.2.3 Speed Encoders Incremental position encoders with 1-VPP signals and absolute encoders with EnDat interface can be connected to the CC 424.
September 2006
Connecting the Encoders
7–5
7.3 Relationship between Speed Input and PWM Output On the CC 424 there is a fixed assignment of speed encoder input to PWM output. MP112.x is omitted for this reason (special case: MP113.x). The selection of the encoder inputs and PWM outputs is only via MP120.x/ MP121.x. Drive control board
PWM output (MP120.x/MP121.x)
Speed encoder input
1
X51
X15
1
X52
X16
1
X53
X17
1
X54
X18
1
X55
X19
1
X56
X20
2 (1a)
X57
X80
2 (1a)
X58
X81
2
X59
X82
2
X60
X83
2
X61
X84
2
X62
X85
2
X63
X86
2
X64
X87
a. For CC 424 with 8 and with 14 control loops Special case: MP113.x
MP113.x is used to switch the speed encoder inputs for the operation of a second spindle. If only one spindle is used, MP113.x = 0, and the assignment from the above table is valid. If, for example, two spindle motors are driven with one PWM output (and the same power module) and the power can be switched over through a contactor, the speed encoder input can be selected with MP113.x. PWM output for the spindle
Speed encoder input
MP113.x input value
X51
X15 or X17
(0 or 15) or 17
X52
X16 or X18
(0 or 16) or 18
X53
X15 or X17
15 or (0 or 17)
X54
X16 or X18
16 or (0 or 18)
The error message C2A0 Encoder input appears if an invalid entry is given for MP113.x.
7–6
HEIDENHAIN Technical Manual iTNC 530
7.4 Relationship between PWM Output and Position Input The position encoder inputs for digital control loops are no longer on the MC 42x(B), but on the CC 424. There is an MC 42x(B) (Id. Nr. 369 947-xx) without position encoder inputs. The position encoder inputs can be assigned in any order on the drive control board. Use MP110.x/MP111.x for this. The position encoder inputs X201 to X206 can be assigned as desired to the PWM outputs X51 to X56, and the position encoder inputs X207 to X210 to the PWM outputs X57 to X60. Drive control board Position encoder input (MP110.x/MP111.x) 1
X201
1
X202
1
X203
1
X204
1
X205
1
X206 a
2 (1 )
X207
2 (1a)
X208
2
X209
2
X210
2
X211
2
X212
2
X213
2
X214 a. For CC 424 with 8 and with 14 control loops
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Relationship between PWM Output and Position Input
7–7
7.5 Single-Speed, Double-Speed, PWM Frequency 7.5.1 General Information Depending on the version, the CC 424 controller unit has one or two controller PCBs, each of which has 4 DSPs (digital signal processors). Each of these DSPs can serve two control loops. Depending on the machine or controller performance required, it can also only be necessary for a DSP to handle just one control loop. That is why the CC 424 differentiates between single-speed control loops (SS) and double-speed control loops (DS). Double speed control loops operate with shorter controller cycle times. With single-speed control loops, one DSP is used for two control loops. With double-speed control loops, one DSP is used for one control loop. Note Due to the sequence of the PWM outputs for single and double speed on the CC 424, pay attention to the sequence of the power modules when setting up the modular inverter systems. Single-speed control loops are used for: Spindles Conventional axes Double-speed control loops are used for: Linear motors Torque motors High-frequency spindles “Axes that are difficult to control” The configurable double-speed control loops of the CC 424 controller unit allow you to increase the controller performance. This enables you, for example, to achieve excellent results regarding the workpiece surface quality or speed optimization. Double-speed control loops are needed particularly for linear drives in order to achieve proper speed/position control factors required by high-efficiency mechanical systems. High-speed spindle motors requiring PWM frequencies greater than 5 kHz with short current controller cycle times can be operated only with doublespeed control loops. Please note that the maximum number of available control loops may be reduced through the configuration of double-speed control loops. Siehe “Setting the Controller Performance in MP 7610.x” auf Seite 9.
7–8
HEIDENHAIN Technical Manual iTNC 530
7.5.2 Prerequisites The CC 424 with 8 or 12 control loops is only supported as of software versions 340 49x-xx and the CC 424 with 14 control loops only as of software version 340 49x-02
7.5.3 Machine Parameters Since the hardware program has been expanded to up to 14 control loops for the CC 424, please keep the following settings of MP7610.x in mind: MP7610.x was expanded (only CC 424): MP7610.x defines control loops as single-speed or double-speed with the bit codes: MP7610.0 first drive control board MP7610.1 second drive control board In order to remain compatible to older, assigned settings, the two machine parameters have the following preassigned settings: MP7610.0: %1100 MP7610.1: %1111 7.5.4 Setting the Controller Performance in MP 7610.x We recommend that you proceed as follows for defining the controller performance of the CC 424 by assigning the bits in MP 7610.x to the PWM outputs: 8
Determine the required performance of a control loop. Indications such as the desired machining speed, accelerations and surface quality of the workpiece are to be considered. This results in certain motors and control loop properties being required, which can be configured on the CC 424 by using the SS (single-speed) or DS (double-speed) functionality.
8
After you have determined the number of required SS and DS control loops as described above, you may still need to modify this number if you are using special hardware configurations, such as master-slave torque control (requires two axes on the same DSP > SS operation).
8
Now that you know the number of SS and DS control loops as well as the number of axes that fulfill special requirements, you must define the settings of the respective CC 424 version in MPs 7610.0 and 7610.1. The following table illustrates the available PWM connections for setting the SS or DS functionality in MP7610.x. The connections printed in bold emphasize the default setting.
MP 7610.0 - %1100 MP 7610.1 - %1111
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Single-Speed, Double-Speed, PWM Frequency
7–9
Configuration of MP 7610.x for CC 424 with up to 12 control loops Bit Value No.
6 ctrl. loops
8 ctrl. loops
10 ctrl. loops
0 (SS)
0 (SS)
0 (SS)
1 (DS)
1 (DS)
12 ctrl. loops 1 (DS)
0 (SS)
1 (DS)
Bits of MP 7610.0 for 1st drive control board (= number of DSP) 0
X51 X53
X51
X51 X53
X51
X51 X53
X51
X51 X53
X51
1
X52 X54
X52
X52 X54
X52
X52 X54
X52
X52 X54
X52
2
X55
X55
X55 X57
X55
X55
X55
X55
X55
3
X56
X56
X56 X58
X56
X56
X56
X56
X56
Bits of MP 7610.1 for 2nd drive control board (= number of DSP)
7 – 10
0
X57
X57
X59 X61
X59
1
X58
X58
X60 X62
X60
2
X59
X59
X63
X63
3
X60
X60
X64
X64
No. of axes (default)
6
6
10
10
No. of axes (maximum)
6
8
10
12
HEIDENHAIN Technical Manual iTNC 530
Configuration of MP 7610.x for CC 424 with 14 control loops Bit
14 ctrl. loops Value
No.
0 (SS)
1 (DS)
Bits of MP 7610.0 for 1st drive control board (= number of DSP) 0
X51 X53
X51
1
X52 X54
X52
2
X55 X57
X55
3
X56 X58
X56
Bits of MP 7610.1 for 2nd drive control board (= number of DSP) 0
X59 X61
X59
1
X60 X62
X60
2
X63
X63
3
X64
X64
No. of axes (default)
10
No. of axes (maximum)
14
The next-to-last line – No. of axes (default) – shows the number of usable axes resulting from the default settings in MP 7610.x. If you want to use the specified number of axes on the 8-, 12- or 14-axis version, you must modify MP 7610.0 and MP 7610.1 correspondingly. • No. of axes (default): MP 7610.0 %1100 MP 7610.1 %1111 • No. of axes (maximum): MP 7610.0 %1100 MP 7610.1 %0011 MP7610 MP7610.0 Format: MP7610.1 Format:
September 2006
Control loop speed Control-loop speed on the 1st controller PCB %xxxx Control-loop speed on the 2nd controller PCB %xxxx
Single-Speed, Double-Speed, PWM Frequency
7 – 11
7.5.5 PWM Frequency The control loops of the CC 424 can be assigned different PWM frequencies in MP2180.x. There are three fundamental PWM frequencies: 3333 Hz, 4000 Hz and 5000 Hz. A control loop can be operated at the fundamental PWM frequency or at double this frequency. The same PWM frequency (either the fundamental PWM frequency or double this frequency) must be set for all control loops of one drive control board. However, the fundamental PWM frequency of the first drive control board is allowed to differ from the one of the second drive control board. If you have set two different fundamental PWM frequencies for one drive control board, the error message C013 PWM frequency error will appear. Drive control board 1: X51 to X56 Drive control board 2: X57 to X64 8
In MP2180.x. set the PWM frequency (either the fundamental or double the fundamental PWM frequency) for every control loop.
The cycle time of the current controller depends on the PWM frequency: 1 T = ----------------I 2⋅f PWM
If a control loop is operated at double the fundamental PWM frequency, the current controller cycle time is halved. However, this is possible only with double-speed control loops. If you want to operate single-speed control loops at double the fundamental PWM frequency, 8
Set MP2182.x = 1 in order to calculate the current controller cycle time from the fundamental PWM frequency although the control loop will be operated at double the fundamental PWM frequency.
If you operate a single-speed control loop at double the fundamental PWM frequency and half the current controller cycle time (MP2182.x = 0), the error message C017 PWM frequency too high will appear. Current controller cycle time depending on the PWM frequency: PWM frequency
Single-speed control loop
Double-speed control loop
MP2182.x = 0
MP2182.x = 1
MP2182.x = 0
MP2182.x = 1
3333 Hz
150 µs
Error C013!
150 µs
Error C013!
4000 Hz
125 µs
Error C013!
125 µs
Error C013!
5000 Hz
100 µs
Error C013!
100 µs
Error C013!
75 µs
150 µsa
62.5 µs
125 µsb
50 µs
100 µsc
a
6666 Hz
Error C017!
150 µs
8000 Hz
Error C017!
125 µsb
Error C017!
c
10000 Hz
100 µs
a. Fundamental PWM frequency of 3333 Hz b. Fundamental PWM frequency of 4000 Hz c. Fundamental PWM frequency of 5000 Hz
7 – 12
HEIDENHAIN Technical Manual iTNC 530
Switching the PWM frequency during operation It may sometimes be necessary to increase the PWM frequency at high speeds, for example, if problems with the spindle temperature occur. With the CC 424, the PWM frequency can be switched during operation. You can switch only between the fundamental PWM frequency and double the fundamental PWM frequency. Since the current controller cycle time cannot be changed during operation, the entry MP2182.x = 1 is required. This means that at the same time that you enter double the fundamental PWM frequency in MP2180.x, you must set MP2182.x = 1. Example: Fundamental PWM frequency of 5000 Hz; a control loop is to be operated at double the fundamental PWM frequency and high speeds. Default setting
Single-speed control loop
Double-speed control loop
MP2180.x = 5000
MP2180.x = 10000
MP2180.x = 10000
MP2182.x = 0
MP2182.x = 1
MP2182.x = 1
MP2180.x Input:
PWM frequency 0: fPWM = 5000 Hz 3200 to 3999: fPWM = 3333 Hz 4000 to 4999: fPWM = 4166 Hz (CC 424: 4000 Hz) 5000 to 5999: fPWM = 5000 Hz 6000 to 7999: fPWM = 6666 Hz 8000 to 9999: fPWM = 8333 Hz (CC 424: 8000 Hz) 10000: fPWM = 10000 Hz
MP2182.x
Cycle time of current controller at double the fundamental PWM frequency 0: Cycle time = 1 / (2 ⋅ fPWM) 1: Cycle time = 1 / fPWM
Input:
September 2006
Machine parameters to be edited
Single-Speed, Double-Speed, PWM Frequency
7 – 13
7.6 PLC Cycle Time MP7600.x is of no importance on the CC 424. 8
Enter the PLC cycle time in ms in MP7602.
MP7602 Input:
PLC cycle time 0 to 60 [ms] 0 to 10: 10.8 ms
7.7 Monitoring Functions The KTY temperature sensor of the motors is monitored by the control for excessive and insufficient temperatures. If the KTY is not to be evaluated (e.g. because the temperature sensor is not doubly isolated), this function must be deactivated with MP2220.x bit 4 = 1. The CC 424 monitors the input frequency of the speed encoders. If this monitoring leads to problems (e.g. unjustified responses), it can be deactivated with MP2220.x bit 7 = 1. The following error messages can appear: Speed encoder: 8860 Input frequency from speed encoder Position encoder: 8870 Input frequency from position encoder Only one encoder is used for capturing the speed and position when linear and torque motors are being used. If such an axis is removed from the closed-loop control and later reintroduced, a mechanical offset can occur. This offset is not fixed “in one blow,” but instead is adjusted by gradually raising the kV factor from 0 to the original value. This function is deactivated with MP2220 bit 8 = 1. MP2220.x Input:
7 – 14
Monitoring functions Bit 4 – Monitoring for excessive temperature 0: Active 1: Inactive Bit 5 – Monitoring for insufficient temperature 0: Active 1: Inactive Bit 6 – Reserved Bit 7– Monitoring of encoder input frequency 0: Active 1: Inactive Bit 8 – Adjust mechanical offset by gradually increasing the kV factor 0: Active 1: Inactive
HEIDENHAIN Technical Manual iTNC 530
7.8 Special Functions 7.8.1 Multifunction Filter With the CC 424, you can influence the manipulated variable of the speed controller (= nominal current) and the position controller (= nominal speed) by means of up to five freely definable filters per axis. These filters are multifunctional filters, which means that the filter type of each individual filter order can be selected as desired. They are also effective for the spindle(s). Objective of the filters
The first objective when adjusting a machine is the optimization of the control loop in the current and speed controller. The increase of the P component of the control loops in order to raise the dynamics of the machine is in the foreground of this. If a control loop is at the oscillation limit, these oscillations can be damped with filter functions, so that the P components can be increased again. The second objective when adjusting a machine is the optimization of the position controller. Here it is attempted to increase the kV factor in the position controller, in order to simultaneously increase the machine’s performance (the acceleration behavior, for example). The procedure is always to increase the kV factor to the oscillation limit, dampen these oscillations with the filters, and then increase the kV factor again.
Types of filters
Three different types of filters per axis are available for selection: PT2 low-pass • Use: - Oscillations in the upper frequency range (typically: from 500 Hz) - High-frequency noises on axes (such as during switch-on) Band-rejection filter • Use: - Oscillations in the middle frequency range (typically: between 100 Hz and 2.5 Hz) • Typical settings: - Damping from 6 to 9 dB - Bandwidth: equal to the center frequency, constant from 500 Hz • Disadvantage: - These can strengthen oscillations in the lower frequency range Phase increase • Use: - Oscillations in the lower to middle frequency range, which occur because of an insufficient phase reserve - Oscillations in the lower frequency range, for which band rejection would excessively decrease the amplitude • Typical settings: - Phase from 20° to 80° - Center frequency: Frequencies from 3 to 400 Hz - Bandwidth: equal to the center frequency (oscillation frequency) • Disadvantage: - The control-loop gain above the center frequency is increased. The increased use of band-rejection filters can become necessary, or the P component might need to be reduced. • Note: After the settings have been made, the stability of the control loop must be checked again (P and I component)
September 2006
Special Functions
7 – 15
Recommended types of filters
Experience has shown that the band rejection of the multifunction filters is to be used for damping oscillations in the speed controller. On the other hand, the tendency of the position controller to oscillate should be counteracted with IPC (Integral Phase Compensation). Only if this adjustment does not lead to the desired result can the multifunction filters (such as the phase increase (better, since it doesn’t facilitate oscillations at lower frequencies as much)) or the band-rejection filter be used. Since the ambient conditions can be so different, the use of the filter must be checked separately in every case. The TNCopt PC software from HEIDENHAIN should always be used, so that the sequence of the adjustment matches the ideal case. This manual can only present recommended guidelines and procedures.
Possible settings for the multifunction filters Filter 1
Filter 2
Filter 3
Filter 4
Filter 5
Filter selection MP2562.x 0 = Filter not active 1 = PT2 low-pass filter (speed controller) 2 = Band-rejection filter (speed controller) 3 = Phase increase (speed controller) 11 = PT2 low-pass filter (position controller) 12 = Band-rejection filter (position controller) 13 = Phase increase (position controller)
MP2563.x
MP2564.x
MP2565.x
MP2566.x
PT2 low-pass filter: no effect MP2542.x Band rejection: Damping [dB] Phase increase: Phase [0 - 90°]
MP2543.x
MP2544.x
MP2545.x
MP2546.x
PT2 low-pass filter: Corner fre- MP2552.x quency [Hz] Band-rejection filter: Center frequency [Hz] Phase increase: Center frequency [Hz]
MP2553.x
MP2554.x
MP2555.x
MP2556.x
PT2 low-pass filter: no effect Band-rejection filter: Bandwidth [Hz] Phase increase: Bandwidth [Hz]
MP2573.x
MP2574.x
MP2575.x
MP2576.x
7 – 16
MP2572.x
HEIDENHAIN Technical Manual iTNC 530
The filters can be used in the position or speed controller in any combination, i.e. even if the first filter is deactivated for the 1st axis, MP2542.0 MP2552.0 MP2562.0 = 0 MP2572.0 the second filter, for example, (in this case phase increase in the speed controller) can be activated for the 1st axis: MP2543.0 = 40 MP2553.0 = 120 MP2563.0 = 3 MP2573.0 = 120 Changes to CC 422
Due to the multifunction filters on the CC 424, MP2540.x and MP2550.x (band rejection) are no longer active.
Filters in the position encoder
The kV factor can be increased by using the filters in the position controller. After the kV factor has been increased up to the oscillation limit, a bandrejection filter can be defined for the oscillation frequency so that the kV factor can be further increased.
September 2006
MP2542.x Input:
Damping/phase increase for filter 1 0 to 99.0 [dB]
MP2543.x Input:
Damping/phase increase for filter 2 0 to 99.0 [dB]
MP2544.x Input:
Damping/phase increase for filter 3 0 to 99.0 [dB]
MP2545.x Input:
Damping/phase increase for filter 4 0 to 99.0 [dB]
MP2546.x Input:
Damping/phase increase for filter 5 0 to 99.0 [dB]
MP2552.x Input:
Center/corner frequency for filter 1 0 to 30 000.0 [Hz]
MP2553.x Input:
Center/corner frequency for filter 2 0 to 30 000.0 [Hz]
MP2554.x Input:
Center/corner frequency for filter 3 0 to 30 000.0 [Hz]
MP2555.x Input:
Center/corner frequency for filter 4 0 to 30 000.0 [Hz]
MP2556.x Input:
Center/corner frequency for filter 5 0 to 30 000.0 [Hz]
MP2562.x Input:
Filter type for filter 1 0: No filter 1: PT2 low-pass filter (speed controller) 2: Band-rejection filter (speed controller) 3: Phase increase (speed controller) 11: PT2 low-pass filter (position controller) 12: Band-rejection filter (position controller) 13: Phase increase (position controller) Special Functions
7 – 17
7 – 18
MP2563.x Input:
Filter type for filter 2 0: No filter 1: PT2 low-pass filter (speed controller) 2: Band-rejection filter (speed controller) 3: Phase increase (speed controller) 11: PT2 low-pass filter (position controller) 12: Band-rejection filter (position controller) 13: Phase increase (position controller)
MP2564.x Input:
Filter type for filter 3 0: No filter 1: PT2 low-pass filter (speed controller) 2: Band-rejection filter (speed controller) 3: Phase increase (speed controller) 11: PT2 low-pass filter (position controller) 12: Band-rejection filter (position controller) 13: Phase increase (position controller)
MP2565.x Input:
Filter type for filter 4 0: No filter 1: PT2 low-pass filter (speed controller) 2: Band-rejection filter (speed controller) 3: Phase increase (speed controller) 11: PT2 low-pass filter (position controller) 12: Band-rejection filter (position controller) 13: Phase increase (position controller)
MP2566.x Input:
Filter type for filter 5 0: No filter 1: PT2 low-pass filter (speed controller) 2: Band-rejection filter (speed controller) 3: Phase increase (speed controller) 11: PT2 low-pass filter (position controller) 12: Band-rejection filter (position controller) 13: Phase increase (position controller)
MP2572.x Input:
Bandwidth for filter 1 0 to 30 000.0 [Hz]
MP2573.x Input:
Bandwidth for filter 2 0 to 30 000.0 [Hz]
MP2574.x Input:
Bandwidth for filter 3 0 to 30 000.0 [Hz]
MP2575.x Input:
Bandwidth for filter 4 0 to 30 000.0 [Hz]
MP2576.x Input:
Bandwidth for filter 5 0 to 30 000.0 [Hz]
HEIDENHAIN Technical Manual iTNC 530
7.8.2 Filter Order for Separate Low-Pass in the Speed Controller Use
The function of MP2560.x (CC 422: low-pass filter) has changed: If a low-pass filter is used with the CC 424, the filter order of the low-pass filter can be set in MP2560.x However, MP2560.x = 0 should be entered under standard conditions. Spindle: High-frequency spindles often cause considerable current noise (shown by I nom or Utilization on the oscilloscope). The optimization goal is as little current noise as possible at high spindle speeds. MP2560.x = 10 to 20 should be used as a starting value. Axes: The low-pass filter should be used if the actual speed has “a lot of noise.” For example, MP2560.x = 1 or 2. If there is no improvement, set MP2560.x = 0. see “Adjustment of the Speed Controller” on page 7 – 50 for adjustment of the filters.
Machine parameter
MP2560.x Input:
Filter order of the low-pass filter 0 to 20 Recommended input value: 0 Recommended input value if much current noise from high-frequency spindles: 10 to 20
7.8.3 Dynamic Determination of Load General information
During traverse motions, each machine axis behaves differently depending on the various loads, such as the differing inertias of the workpieces. In connection with the CC 424 controller unit, the iTNC offers you the possibility of optimizing the machine according to load classes. Before the machining process, the optimum settings for a workpiece with a certain load class can be entered.
Determining the load
The effects of the inertia of the workpieces can be detected with a measuring cycle created by the OEM. A measurement that determines the maximum occurring torque (target value in % of the rated torque without decimal places) between two points in time is started. At the same time, the machine is optimized for this load class, and the machine parameters determined are saved in a machine-parameter subfile. The load class is determined for each workpiece before machining starts (via manual entries or by determining the load with an NC macro), and the corresponding, optimized machine-parameter subfile is selected.
September 2006
Special Functions
7 – 19
Procedure
The following procedure is recommended for determining and using a load class. By the OEM: Determining the load class and creating the machine-parameter subfiles 8
Optimizing the machine and saving the results without load
8
Loading the machine with a mass appropriate for the load class to be determined
8
Starting the measurement, traversing the axis to be measured, and stopping the measurement Example of a corresponding NC program: 0 BEGIN PGM measure_a MM 1 L C+0 R0 FMAX 2 FN 17: SYSWRITE ID 621 NR0 IDX4 = +0 3 L IA+180 R0 FMAX 4 L IA-180 FMAX 5 FN 18: SYSREAD Q1 = ID621 NR0 IDX4 6 END PGM measure_a MM
8
Optional: Saving the measured results in a variable: FN 17 SYSWRITE ID 590 NR 2 IDX IDX = 1..30 (is not deleted during program selection) FN 17 SYSWRITE ID 590 NR 3 IDX IDX = 1..30 (protected during a power failure)
8
Optional: Reading the saved value FN 18 SYSREAD ID 590 NR IDX (IDX = 1..30)
8
Optimizing the machine and saving the results in a machine-parameter subfile for this load class
8
Perform the measurements for each load class as described above
By the customer: Selecting the machining method optimized for the load 8
Enter the load class (or mass) before machining, or determine the load class with the NC macro from the OEM as described above.
8
Activate the correct machine-parameter subfile depending on measured result FN 17 SYSWRITE ID 1020 NR 1 = (when using the keyword MPFRAGMENTFILE = in OEM.SYS)
8
Deactivating the machine-parameter subfile FN 17 SYSWRITE ID 1020 NR 2 within an NC macro, which is run when a program is concluded with M02, M30 or END PGM (keyword RUNENDPGM in NCMACRO.SYS). In the Manual operating mode, this macro must also be saved in the M-function table under M02 and M30. Note Retention forces and friction forces are included in the measured value Deviations in the utilization due to oscillations or torque ripple are included in the measured value The override of the feed-rate potentiometer is taken into account The determined value depends on the axis parameters. Using axis parameters with stable behavior for the determination.
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HEIDENHAIN Technical Manual iTNC 530
7.8.4 LIFTOFF Function in Case of a Power Failure General information
If the power fails and LIFTOFF is enabled (M148 must be active, column LIFTOFF in the tool table = Y, PLC: M4620=1), an attempt is made to lift the tool from the contour by the distance given in MP1160 with the help of the remaining energy of the dc-link. Certain conditions must be maintained before and during LIFTOFF. The 24-V power supply must be maintained for at least 1 second (USB for 24 V, or buffer capacity or capacitor). HEIDENHAIN offers the CML 110 (Capacitor Module for Low Voltage) for this. The current and speed controllers may not be switched off (e.g. via PLC Module 9161) AC-Fail may not be evaluated (MP2150 = 3) The wye-delta contactor combination may not fail, otherwise the spindle could not be controllable during liftoff. Note LIFTOFF only functions with HEIDENHAIN inverters. MP1160 Input:
Additional settings
LIFTOFF in case of power failure 0.0000 to 1.0000 [mm] Default: 0.0000 [mm]
Since the residual energy of the dc-link is only available for a controlled LIFTOFF for a very short time, then under certain circumstances the prescribed distance may not be reached. Since even times on the scale of milliseconds can be of use here, a special possibility was created in order to react to a power failure more quickly. The starting point is the processing time for the HSC nominal position value filters, which, due to the number of filter coefficients (filter order) to be calculated, lead to a delay in the reaction time. This number of filter coefficients to be calculated can be reduced with MP1262 (filter order for HSC filter) and MP1263 (filter order for advanced HSC filter). The starting point is the filter order of 31 recommended by HEIDENHAIN, which is entered as a default value and should suffice for the LIFTOFF function in most cases. If this is not the case, then you can reduce the reaction time via the filter order. Since the coefficients are calculated in the interpolator clock cycle of usually 3.0 ms, the reaction time decreases correspondingly per decrement of the filter order. Note A modification of the filter order basically means a change in the filter characteristics of the nominal position value filters set, and can therefore have significant influences on the behavior of the machine. The effects must be checked individually, and the nominal position value filters must be changed if necessary.
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Special Functions
7 – 21
Starting from the following settings for MP1262 and MP1263, checking and re-adjustment of the nominal position value filters is strongly recommended: MP1262 ≤ 1.1 / (MP1212*interpolator cycle time) MP1263 ≤ 0.67 / (MP1213*interpolator cycle time)
7 – 22
MP1262 Input:
Filter order used for HSC filters 0 to 31 [filter order] Default: 31
MP1263 Input:
Filter order used for advanced HSC filters 0 to 31 [filter order] Default: 31
HEIDENHAIN Technical Manual iTNC 530
7.8.5 TRC – Torque Ripple Compensation General information
Certain motors with permanent magnets (linear, torque and some synchronous motors) have an increased, position-dependent variation of the motor torque (not QSY motors from HEIDENHAIN). This can be the result of two things: - During idle running, the cogging due to attractive forces of the permanent magnets - When under load, the torque ripple from higher harmonics, resulting from the opposing electromotive forces (generator effect) In practice, both causes always occur together, i.e. the torque of the motor is subject to periodic oscillations. This can have a negative effect on the controllability of the motor, which can result in a greater following error, and under circumstances, lower surface quality of the workpiece. To compensate for the cogging, a compensation current ascertained specifically for each motor can now be added. Acceleration feedforward
TRC
Position controller
Speed control
Current controller
Power stage
Motor
Machine slide
Nominal position
Actual current Actual speed Actual position
Activate TRC
TRC can only be activated via a special compensation file. The settings in this file can only be made with the TNCopt commissioning software from HEIDENHAIN (as of version 2.3). Please refer to the documentation for the TNCopt software. The compensation current is determined with a special method for measurement, and the parameters for calculating this compensation are stored in a compensation file on the control. The iTNC 530 then takes these parameters into account when calculating the controller parameters. Directory: PLC:\MP\TRC File name: xx_.TRC • xx: Index of the axis (e.g. 00 = 1st axis, X axis) • : Name of the motor from the motor table (max. 29 characters) • .TRC: File extension for “Torque Ripple Compensation”
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Special Functions
7 – 23
An entry in MP2260.x specifies whether torque ripple compensation is to be performed for an axis. If MP2260.x is followed by a blank line (no entry), no compensation current is calculated for this axis. Example: MP2260.0: MP2260.1:
00_MotNameFromMotTab;Motor of 1st axis ;Motor of 2nd axis, no compensation
Note The TRC function can only be used with PWM frequencies up to 5 kHz. A TRC file can only be used on the control on which the adjustment has been made. A TRC file must be re-created if the motor or even the encoder is exchanged. A TRC file can only be generated for synchronous motors or for linear or torque motors. MP2260.x Input:
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Name of the file for TRC “Torque Ripple Compensation” xx_.TRC (generated in TNCopt) No entry: No compensation
HEIDENHAIN Technical Manual iTNC 530
7.8.6 Peculiarities in Weakened-Field Operation Reduction of the magnetization current
Some of the asynchronous spindle motors require a high magnetizing current at low speeds (n < nfield weakening). This magnetizing current can, however, lead to thermal motor problems at the rpm for field weakening nFW when there is no load. The nominal voltage (and so also the nominal magnetization current) at the rpm for field weakening nFW when there is no load can be reduced with MP2210.x The entered reduction results in a profile of the nominal voltage as shown in the figure below. The maximum nominal voltage is reached when n = 3 · nfield weakening. The nominal voltage can be reduced by max. 60 % (MP2210.x = 60). If a load is placed on the drive, then the nominal voltage is increased again automatically in order to improve the dynamics. Unominal
MP2210.x
n nFW MP2210.x Input:
3 · nFW
Reduction of the nominal voltage at the rpm for field weakening when there is no load 0 to 60 [%] 0: Function inactive
Note Please note that the reduction of the magnetization current can lead to a restriction of the drive’s dynamics. However, this depends on the drive, and must be judged separately in each case. Setting the reduction of the magnetization current
September 2006
If thermal problems arise on an asynchronous spindle with no load during weakened-field operation, and these problems cannot be traced to an overload or other mechanical problems, then please reduce the magnetization current as follows: 8
Reduce the nominal voltage in steps of 10% in MP2210.x.
8
Reduce MP2210.x until a stable temperature within the motor specifications is reached when there is no load.
Special Functions
7 – 25
7.9 Stick-Slip Friction Compensation at Quadrant Transitions Stick-slip friction compensation for the CC 424 has been improved in comparison to stick-slip friction compensation for the CC 422. With the CC 422, the quadrant transition is only influenced by MP2612.x after the zero crossover of the speed. With the CC 424, the compensation already begins before the zero crossover of the speed. With the CC 424, the parameters MP2612.x and MP2614.x now function with respect to distance rather than time (unit: [mm]). This makes it possible to compensate quadrant transitions independently from velocity, acceleration, and diameter. Adjustment of the stick-slip friction compensation with TNCopt is in development. MP2610.x Input:
Friction compensation at low motor speed 0 to 30.0000 [A] (effective value) 0: No friction compensation
MP2612.x
Distance before the reversal point from which a reduction of the current from MP2610.x is to go into effect 0 to 1000 [mm] or [°] 0: No friction compensation 0.1: Typical input value
Input:
MP2614.x Input:
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Distance after the reversal point from which the current from MP2610.x is to go into effect again 0 to 1000 [mm] or [°] 0: Friction compensation same as CC 424 0.1: Typical input value
HEIDENHAIN Technical Manual iTNC 530
7.10 Field Orientation General information
If a linear, torque or synchronous motor is used with an incremental encoder without a Z1 track or a nonaligned encoder with EnDat interface, there is no association between the encoder and the rotor magnets. The field angle must be determined before this motor can be moved. The iTNC 530 uses the “Field orientation” function to determine the field angle for the motors listed above. The association between the encoder and the rotor magnet (field angle) is determined and stored. Note The “Field orientation” function can be performed only if the current controller is already adjusted! Regarding the motor.mot motor table, the field orientation must be performed for the following drives: Linear motor with absolute encoder with EnDat interface (SYS = 3) Synchronous or torque motor with nonaligned rotary encoder with EnDat interface (SYS = 5) Synchronous or torque motor with incremental rotary encoder without Z1 track (SYS = 6); one reference mark per revolution Synchronous or torque motor with incremental rotary encoder with distance-coded reference marks (SYS = 7) Linear motor with incremental linear encoder with distance-coded reference marks (SYS = 8)
Absolute encoder with EnDat interface
Incremental encoders
As soon as the absolute position of the encoder has been read, the absolute position and determined field angle are associated. The field angle is associated with the zero position of the encoder.
After switching on the drive, the motor orients itself (rough orientation; the message Finding the field angle appears). The drive is ready for operation after this procedure. The field angle is determined and associated as soon as the reference mark(s) is/are traversed during the first motor motion.
Danger If the speed encoder is exchanged, the Field Orientation function must be rerun.
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Field Orientation
7 – 27
Field orientation with absolute encoder (EnDat)
As soon as the absolute position of the encoder has been read, the absolute position and determined field angle are associated. The field angle is associated with the zero position of the encoder.
Field orientation via encoder with Z1 track
After switching on the control, the motor orients itself (rough orientation) via the Z1 track of the encoder. The drive is ready for operation after this procedure. The field angle is determined and associated as soon as the reference mark is traversed during the first motor motion.
General information about encoders for direct drives
An absolute encoder with EnDat interface should be used, since the absolute position value is available directly after switch-on, and the field angle can be associated immediately. This means that the motor can be controlled immediately. The encoder should have a high line count, as this leads to better controllability. With incremental encoders the motor must first be moved a “minimum” distance in order to determine a field angle with which the motor can be moved until the reference mark. Only after the reference mark has been traversed can the field angle determined during commissioning be assigned. If excessive clamping of the axis prevents the “minimum” motion for determining the field angle, then no field angle can be determined and the axis cannot be controlled. In this case the clamping must be undone for the field angle to be determined. If this is not possible, because the axis would fall down, then an absolute encoder with EnDat interface must be used.
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HEIDENHAIN Technical Manual iTNC 530
7.10.1 Possibilities for Determining the Field Angle There are various possibilities for determining the field angle: The field angle is determined automatically when the drive is switched on, without any motion of the motor. The method of determination is set in MP2250.x. The field angle is stored after it has been determined. This field angle is used when the motor is switched on again. The FIELD ORIENT. soft key has no function. By pressing the FIELD ORIENT. soft key once while the motor is being commissioned. The soft key appears in the Commissioning Current Controller operating mode. After pressing it, the motor moves. The field angle is determined and stored during this motion. This field angle is used when the motor is switched on again. A plausibility test is run during the field angle determination. Warning This method cannot be used for hanging axes (with 100% weight compensation), since the brakes are not applied and the monitoring functions are deactivated! 8
Select the method for field angle determination in MP2254.x.
HEIDENHAIN recommends using MP2254.x = 2 when commissioning new drive systems (such as machine prototypes), because the plausibility tests will be run. After successful commissioning, MP2254.x = 0 can be used to save time (such as for series production of the machine). In certain cases it can be of advantage to determine the field angle via MP2254.x = 3. This mode can be used if: There are no brakes, or in the Commissioning Current Controller mode of operation, where the brakes are always open, or the user ensures that the brakes can be opened manually or with the PLC. MP2254.x Input:
Determining the field angle 0: Field angle is determined during operation; soft key has no function (without plausibility test) 2: Only CC 424: Field angle is determined via soft key; motor motion is permitted (with plausibility test) 3: Only CC 424: Same as 2, but the drive must no longer be switched on by the PLC. The drive is moved immediately after the FIELD ORIENT soft key is pressed.
Note For synchronous spindles, the field angle should be determined via the FIELD ORIENT. soft key (MP2254.x = 2), since this is a more exact determination.
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Field Orientation
7 – 29
Plausibility test
This tests several machine parameters and parts of the circuitry for their plausibility: Encoder line count Number of pole pairs Rotational direction of the electrical field Traverse distance per electrical revolution Note This method for determining the field angle is recommended for commissioning, new designs, and other similar situations. The following messages can appear during the plausibility test: 8630 Field orient. successful Indicates that the field angle was successfully determined and stored in MP2256.x. 8B10 Wrong traverse direction Indicates that the rotational direction of the electrical field does not match the counting direction of the encoder. Error fix: Change the entry in MP2204.x. 8B20 Error field orientation Indicates that no usable measuring results could be determined. A common cause is incorrect values in MP331.x, MP332.x and MP1054.x. A further cause could be that the motor is moving against a resistance (e.g. brake is still active, bellows, limit stop) or that the mechanics are too stiff.
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HEIDENHAIN Technical Manual iTNC 530
Overview of the field orientation
MP2256.x ?
=0
MP2254.x ?
≠0
=0
Drive on
FIELD ORIENT. soft key
= 2/3 Incremental encoder with distance-coded reference marks
Incremental encoder with one reference mark Encoder ? Absolute encoder with EnDat interface
Traversing reference marks
Traverse reference mark
Determination of field angle with motion (& plausibility test), automatic entry in MP2256.x
Drive on
Determination of field angle for absolute and incremental encoders according to method in MP2250.x
Determination of field angle according to method in MP2250.x, in order to enable controlled motions
If necessary, controlled motion over reference mark
Incremental encoder Encoder ? Absolute encoder with EnDat interface Associate field angle from MP2256.x
Controlled motion over reference mark
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Field Orientation
Automatic entry of the field angle in MP2256.x
7 – 31
7.10.2 Determination of the Field Angle without Motor Motion (MP2254.x = 0) A distinction must be made if you intend to determine the field angle without motor motion: Commissioning: No field angle has been determined yet (MP2256.x = 0) A field angle has been already determined (MP2256.x≠0) The field angle is determined automatically after switching on the drive. This process lasts approximately 4 to 6 seconds (the PLC program must not rescind the drive release during this time). The Finding field angle message appears. If the power module is not active before the determination of the field angle begins, the error message 8B40 No drive release appears. If the power module switches off during the determination, 8B50 Axis module not ready appears. Field angle not yet determined (MP2256.x = 0)
If the field angle on this machine was not yet determined after the control was started (MP2256.x = 0), the determination starts automatically. The method for determining the field angle is stored in MP2550.x. The determined field angle is stored in MP2556.x.
Field angle already determined (MP2256.x ≠ 0)
If the field angle on this machine was already determined after the control was started (MP2556.x ≠ 0), a distinction must be made:
7 – 32
If an absolute encoder with EnDat interface is being used: The absolute position of the encoder is read immediately after the control has been started. The field angle from MP2256.x is assigned to this position. Therefore, the first motor motion already occurs with the determined field angle. If an incremental encoder is being used: Immediately after the control has been started and the control voltage has been switched on, then depending on MP2250.x a field angle is determined with which the motor can be traversed over the reference mark. After traversing the reference mark, the field angle from MP2256.x is assigned. The subsequent motor motions utilize the field angle from MP2256.x.
HEIDENHAIN Technical Manual iTNC 530
Determining the field angle
There are two methods for determining the field angle without motor motion: Method 2: Current pulses are output with the brakes applied, and the absolute rotor position is determined from the reaction. A “minimum” movement of the motor must be possible when the brakes are applied. Method 3: Method 3 functions in the same manner as Method 2, but with the difference that the motor brakes are not applied. Therefore, this method is not suitable for hanging axes. However, this method can lead to more exact results than Method 2, so it should be used for synchronous spindles. Minimal spindle movements can occur during field angle determination. 8
In MP2250.x, select the method to be used for determining the absolute rotor position. Note Standstill monitoring is active while determining the field angle. If it responds for motors without motor brakes, increase the threshold in MP1110.x. Afterwards, reset MP1110.x to the original value.
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MP2250.x Input:
Determining the field angle without motor motion 0: Same as input value 2 1: Reserved 2: Method 2 (brakes applied) 3: Method 3 (same as Method 2, but motor brake is not applied)
MP2252.x Input:
Reserved Enter 0
Field Orientation
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7.10.3 Determination of the Field Angle with Motor Motion (MP2254.x = 2/3) Since the motor moves in a certain direction while finding the field angle, it should be near the midpoint of the traverse path before the field angle is determined. Axes with linear/torque motors can be slid “by hand” if the brakes are not applied. While the field angle is being found, the speed controller and position controller are opened and the drive controller is active. This means that the motor is moved (approx. 2 pole pairs) and the brake must be open until the field angle is determined. Danger Hanging axes require a 100% compensation for weight. Please contact HEIDENHAIN if this is not the case. Warning Limit switches are ignored! If axes move into an illegal area, press the emergency stop button! Note When using incremental encoders with distance-coded reference marks, MP334.x (nominal increment between two fixed reference marks) must be set correctly. MP2254.x = 2 The PLC initial servicing program, whose name and path is entered in the OEM.SYS file after the PLCPWM = entry, must ensure that the inverters are ready after “Switch on external dc voltage,” but that the motor brakes are only open while determining the field angle. Alternately, the motor brakes can be opened manually for the duration of the field angle determination. MP2254.x = 3 Under certain conditions, determination of a field angle with the help of the PLC is not necessary or desired. Here the motor is moved immediately after the FIELD ORIENT key is pressed, and the field angle is determined. This mode can be used if: There are no brakes, or in the Commissioning Current Controller mode of operation, where the brakes are always open, or if the user ensures that the brakes can be opened manually or with the PLC.
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HEIDENHAIN Technical Manual iTNC 530
Module 9065 Status of the commissioning function Module 9065 states for which axis the field angle is currently being determined. This makes it possible to open the brake for this axis. Call: PS CM PL
B/W/D/K 0: Field angle determination 9065 B/W/D
Error recognition: Marker
Value
Meaning
M4203
0
Control loop determined
1
Error code in W1022
1
Invalid commissioning function
W1022
Before determining the field angle (FIELD ORIENT. soft key not yet pressed) the inverter must be in the following mode of operation: Green “READY” LED on Red “SH1” LED off Red “SH2” LED on (drive controller not ready, brakes closed) As soon as the drive enable comes from the PLC, the Finding field angle message appears, otherwise 8B40 No drive release appears. The motor moves and the field angle is determined. Limit switches are not taken into account. In order to avoid a possible error message about standstill monitoring, an appropriately large input value is to be provided in MP1110.x (MP1120.x, which is intended for standstill monitoring during determination of the field angle is available as of NC software 340 490-02). 8
Switch on the control.
8
Do not acknowledge the Power Interrupted message. In the Programming and Editing mode of operation, use the MOD key to enter the code number 688379. The oscilloscope is started.
8
Press the I CONTROL soft key.
8
In the Manual mode of operation, acknowledge the Power Interrupted message.
8
Use the CHOOSE AXIS soft key in the oscilloscope to select the corresponding axis.
8
Press the FIELD ORIENT. soft key. The PLC must • switch the drive on/off • release and lock the brakes
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Field Orientation
7 – 35
The motor moves back and forth. The field angle is determined for the reference mark or datum, and is stored automatically. The Finding field angle message appears. Then another message appears (see page 7 – 30). 8
Press the END soft key.
The control carries out a reset. If the message 8630 Field orient. successful appears, then the field angle was associated and is available. 7.10.4 Reading or Setting the Field Angle via the PLC For axes without encoders with Z1 tracks, which cannot be moved when switched off (e.g. due to Hirth coupling), or if it has been ensured that they cannot moved when switched off, Module 9149 can be used to read out the field angle after positioning. This axis-specific field angle must be stored via the PLC in nonvolatile memory. It is also important that the saved field angle is cleared (set to 0) before each positioning, so that the axis (motor) is not started with an incorrect field angle after a power failure. This way an incorrect writing of the field angle is prevented if a power failure occurs. Setting via Module 9149 of the remanently stored field angle must be performed before the drives of the affected axis are switched on. This means that it is not necessary to determine the field angle again.
Danger Please note the following items when setting/reading the field angle via the PLC: An incorrectly set field angle can lead to undesirable reactions of the motor, including uncontrollability. It might even move in the wrong direction! If the axis position is moved again after the field angle has been read, then the determined field angle may no longer be used. The commutation angle may be set only after you have ensured that the stored commutation angle corresponds to the current position (e.g. due to Hirth coupling). The module is suitable only for synchronous, torque, or linear motors in conjunction with nonaligned encoders without EnDat interface. The module responds with a value only if the reference mark has been traversed. The commutation angle for an axis can be set only once after the control is switched on and before the drives are first switched on.
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HEIDENHAIN Technical Manual iTNC 530
Module 9149 Set/Read commutation angle Call: PS B/W/D/K PS B/W/D/K 1 to 720000 PS B/W/D/K 0: Read commutation angle 1: Set commutation angle CM 9149 PL B/W/D 0: Commutation angle set/read 1: Module was not called in a spawn job or submit job 2: Invalid mode 3: Invalid axis number 4: Invalid commutation angle Error code from controller when mode 0 is active (read commutation angle): 100: Unknown reference position Error code from controller when mode 1 is active (set commutation angle): 200: Invalid motor type (no synchronous or linear motor) 201: Invalid encoder type (not “non-aligned”) 202: Invalid commutation angle 203: Commutation angle already set PL B/W/D Error recognition:
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Marker
Value
Meaning
M4203
0
Commutation angle set/read
1
Error code in W1022
W1022
1
Invalid mode
2
Invalid axis number
20
Module was not called in a spawn job or submit job
45
Error code from controller
Field Orientation
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7.10.5 Saving the Determined Field Angle NC software: 340 420-xx, to 340 422-02 and to 340 480-03 The determined field angle is automatically stored on the hard disk. If the Field Orientation function is not run, the following error message appears: Encoder with EnDat interface: 8830 EnDat: no field angle Encoder without Z1 track: 8820 Field angle unknown NC software: as of 340 422-03, as of 340 480-03 The determined field angle is automatically entered in MP2556.x. For purposes of reliability and redundancy, either the serial number of the encoder (only for EnDat interface) or a unique control ID is entered as identification in MP2257.x. If the current identification does not match the entry in MP2257.x, an error message appears: When using an encoder with EnDat interface, the error message 8830 EnDat: no field angle appears. In any case the field angle must be determined anew, since the encoder does not match the field angle from MP2256.x When using an incremental encoder, the error message MP2257. incorrect (ID=$) appears. The field angle from MP2256.x and the new identification (ID=$) for MP2257.x can only be assumed after determining that the same drive is meant (e.g. after changing controls). Danger In all other cases the field angle must be determined anew, since otherwise uncontrolled drive motions could occur! Note You can force a new field angle determination be entering MP2256.x = 0 (for example, after exchanging a motor or encoder). MP2256.x Input:
Determined field angle 0: Field angle does not need to be determined, or has not been determined
MP2257.x
Control or encoder identification for the field angle from MP2256.x 0: Field angle does not need to be determined, or has not been determined
Input:
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HEIDENHAIN Technical Manual iTNC 530
7.10.6 Definition of the Field Angle The following applies to the determined field angle, which is entered in MP2556.x: The motor is moved with external power in the positive direction (when viewing the shaft, the shaft rotates clockwise). The voltages U1-Y (phase 1 to star point) and U2-Y (phase 2 to star point) are measured. The positive peak value of U1-Y corresponds to a field angle of 90°. The field angle at the reference mark is saved in increments in MP2256.x An increment is formed from · . Therefore: MP2256.x = ( · · 1024) / 360° In the example below, the reference mark is at the field angle 90°, i.e. MP2256.x = (90° · 2048 · 1024) / 360° = 524288. On a “standard” synchronous motor (with aligned speed encoder), the reference mark is at the field angle 0°. If the field angle were to be determined for this motor, the result would be MP2256.x = approx. 2097152.
U2-Y
U1-Y
90 120
180
FA
270
360
FA2048 524 288
1 048 576
1 572 864
2 097 152
Reference mark U1-Y: Motor voltage between phase 1 and star point U2-Y: Motor voltage between phase 2 and star point FA: Field angle in degrees FA2048: Field angle in increments for an encoder with 2048 lines and 1024-fold interpolation (2048 · 1024 = 2 097 152)
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Field Orientation
7 – 39
7.11 Adjustment of Linear and Torque Motors 7.11.1 General Information Linear and torque motors should be used only in connection with the CC 424. These motors should be connected to controllers with double the computing power (double speed; PWM output X55, X56, X57 to X60). The internal oscilloscope of the iTNC can operate at a maximum resolution of only as fine as 600 µs, but the feedback control can operate at resolutions as fine as 100 µs. Frequencies higher than 1/(600 µs ⋅ 2) = 833 Hz result in undersampling. This can result in misinterpretation of the oscilloscope image. High frequencies are mirrored downward. For example, a 1000-Hz oscillation appears as a 833 Hz 167 Hz = 666-Hz oscillation. Note In order to avoid misinterpreting the oscilloscope image, TNCopt should be used when searching for oscillation frequencies or optimizing the controller. For the CC 424, TNCopt and the internal oscilloscope display effective values, as opposed to the peak values of the CC 422. Linear motor setup
Primary winding Secondary winding
Scale
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HEIDENHAIN Technical Manual iTNC 530
Torque motor setup
Scale
Rotor Section
Stator
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Adjustment of Linear and Torque Motors
7 – 41
Position and speed encoders
For linear and torque motors, position encoders are used as speed encoders. Therefore, they must be connected to the speed encoder inputs (X15 to X20, X80 to X87). In order to adapt the pin layouts (see “Encoder Connections” on page 3 – 42) for absolute encoders with EnDat interface (e.g. LC, RCN), you must use the connecting cable with the ID number 336 376-xx and the line drop compensator with the ID number 336 697-03 (for up to 60 m) or the connecting cable with the ID number 509 667-xx (for up to 11 m), and for incremental encoders with 1-VPP signals (e.g. LB, ROD) you must use the line drop compensator with the ID number 383 951-01. The temperature sensor (KTY 84) can also be connected to both line drop compensators.
KTY
EnDat
(LC; RCN; ...) < 60 m 323 897-xx
CC 424 336 376-xx X15-X20
368 210-02
EnDat
CC 424
(LC; RCN; ...) < 11 m 509 667-xx
X15-X20
1VSS
KTY
(LB; ...) < 60 m 298 401-xx
CC 424 289 440-xx X15-X20
383 951-01
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HEIDENHAIN Technical Manual iTNC 530
Temperature sensor
Linear motors usually have a KTY and several PTC thermistors or thermoswitches for temperature measurement. Warning The PTC thermistors or thermoswitches must be metallically isolated and evaluated by the PLC. The KTY requires double insulation to the motor windings, which must be provided by the motor manufacturer. Otherwise, do not connect the KTY to the control! The KTY is monitored by the control (NC). The temperature signal is conducted to the control together with the encoder signals (X15 to X20, X80 to X83). If the KTY is not to be evaluated, this function must be deactivated over MP2220.x bit 4 = 1 (see “Monitoring Functions” on page 7 – 14). For linear and torque motors, the conductor for the temperature signal of the KTY is frequently in the motor power cable, which can cause interference. Since the conductor for the temperature signal is then led into the conductor of the speed encoder, the interference causes noise in the encoder signals. HEIDENHAIN therefore recommends conducting the temperature signals over the line drop compensator, so that the interference signals are filtered. Note HEIDENHAIN recommends the additional temperature monitoring of the PTC thermistors or thermoswitches via the PLC, since these are distributed over the entire length (linear motors) or circumference (torque motors) (as opposed to the KTY, for which there are only spot measurements). For example, PTC thermistors can be connected to a PLC input via the securely grounded 3RN1013-1BW10 thermistor motor-protection device from SIEMENS.
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Adjustment of Linear and Torque Motors
7 – 43
7.11.2 Safety Precautions for Linear and Torque Motors Note Comply strictly with the warnings and safety precautions printed in this chapter. They help to prevent damage to material through improper handling! Danger Linear and torque motors are equipped with strong magnets and exercise strong magnetic forces of attraction! This can endanger health directly (e.g. for people with pacemakers), or indirectly (e.g. through fast motor movements and high thrust force). Danger Please comply with all safety regulations of the motor manufacturer! Never put your hands in the traverse range of a machine that is switched on. Always switch off the machine before working within the traverse range (machine must be free of potential). Ensure free traverse for the axis. Before switch-on, check the commutation. Monitor the end positions. Keep the motor area free of chips. Watch out for unusual noises. Ensure proper function of the motor coolant system. Check at regular intervals the primary and secondary surfaces on the side toward the air gap. Check for mechanical stability. The integrated buffer must be able to absorb the energy at Vmax in case of a fault.
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HEIDENHAIN Technical Manual iTNC 530
Warning Please comply with the following instructions during all servicing work: Mounting, servicing for initial operation, and maintenance are to be performed only by trained personnel. Wear work gloves during installation and maintenance work. Persons with pacemakers must not service the machine. Keep clocks and magnetized data media (e.g. credit cards, floppy disks, etc.) at a distance. Do not allow heavy metallic objects to contact the secondary winding of the motor. Never allow magnetic surfaces to contact metal. Never place the primary winding directly onto the secondary winding. Keep a good grip on steel tools and bring them to the secondary winding only slowly and from the side.
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Adjustment of Linear and Torque Motors
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7.12 Commissioning Linear and Torque Motors In this example a linear motor (Siemens 1FN3900-4WB0) and a torque motor (ETEL TMA0360-070-3UC) are adjusted. If the motors are not yet found in the motor table, enter them in the table using the data sheet values and the conversion rules (see “Determining Entries for Motor Tables” on page 7 – 57), or contact HEIDENHAIN. 7.12.1 Machine Parameters for Linear Motors The following machine parameters can be defined for the 1FN3900-4WB0 linear motor (rotational speed and position measurement through LC 181): MP331.x = 0.016 [mm] (with use of an LC 181) MP332.x = 1 MP1350.x = 5 (linear encoder with EnDat interface) MP1054.x = 46 [mm/rev] MP2100.x = HEIDENHAIN-UM114 MP2200.x = 1FN3900-4WB0 MP2202.x = * (distance traveled per electrical period as in the motor table) MP2204.x = * (counting direction as in the motor table; if the rotating field does not match the counting direction, enter “–”) MP2206.x = * (encoder as in the motor table) MP2220.x bit 4 = 1 (no monitoring for excessive temperature, since the temperature sensor only has a single insulation layer) If speed and position are measured by an LB 3xx C, the following machine parameters change: MP331.x = 0.004 [mm] (with use of an LB 3xx C) MP332.x = 1 MP334.x = 2000 MP1350.x = 4 (linear encoder with distance-coded reference marks) MP2204.x = * (counting direction as in the motor table; if the rotating field does not match the counting direction, enter “–”) MP2206.x = 8 (incremental linear encoder with distance-coded reference marks (not aligned))
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HEIDENHAIN Technical Manual iTNC 530
7.12.2 Machine Parameters for Torque Motors The following machine parameters can be defined for the ETEL TMA0360-070-3UC torque motor (rotational speed and position measurement through RCN 723): MP331.x = 360 [°] MP331.x = 32768 (with use of an RCN 723) MP1350.x = 5 (linear encoder with EnDat interface) MP1054.x = 360 MP2100.x = HEIDENHAIN-UM114 MP2200.x = ETEL TMA0360-070-3UC MP2202.x = * (line count as in the motor table) MP2204.x = * (counting direction as in the motor table; if the rotating field does not match the counting direction, enter “–”) MP2206.x = * (encoder as in the motor table) 7.12.3 Adjustment of the Current Controller 8
Enter as many machine parameters as possible
8
Assign empirical values to machine parameters that must still be determined (see “Preparation” on page 6 – 334). Danger During current controller adjustment of linear and torque motors, the rotor position of the motor is not yet known. For this reason, if the motor brakes are not active, the motor might move slightly when the current pulses switch on. In other words, it might oscillate about a preferred position. It is not possible to position “manually” to the preferred position. Do not do this, however, during a measurement.
Use the integrated oscilloscope or TNCopt to adjust the current controller. During adjustment of the current controller the speed controller and position controller are open. During output of the current pulses the drive controller becomes active. The PLC initial servicing program, whose name and path is entered in OEM.SYS after the PLCPWM = entry, must ensure that the inverters are ready after “Switch on external dc voltage,” but that the motor brakes are not opened. Before and after the output of the current pulses (START STEP soft key is not pressed) the inverter must be in the following operating mode: Green “READY” LED on Red “SH1” LED off Red “SH2” LED on (drive controller not ready) During output of the current pulses: Green “READY” LED on Red “SH1” LED off Red “SH2” LED off (drive controller ready)
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Commissioning Linear and Torque Motors
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During current adjustment, proceed as follows: 8
Switch on the control.
8
Do not acknowledge the Power Interrupted message. In the Programming and Editing mode of operation, use the MOD key to enter the code number 688379. The oscilloscope is started.
8
Press the I CONTROL soft key.
8
In the Manual mode of operation, acknowledge the Power Interrupted message and switch the control voltage on.
8
Use the CHOOSE AXIS soft key in the oscilloscope to select the axis to be adjusted.
8
With the P/I FACTOR soft key, select the I factor and set MP2430.x = 0.
8
With the P/I FACTOR soft key, select the P factor.
8
As a starting value for the P factor first enter the value 0, select the step increment SLOW, and press the ↑ soft key about 5 to 10 times.
8
Press the START STEP soft key. This sends multiple step functions to the current controller and measures the step responses. The height and length of the steps are automatically calculated by the control.
Creation of a voltage causes a brief humming noise. Danger If the brakes are not active, the motor can move somewhat (in the direction of a preferred position)! The error message Standstill monitoring might be displayed. It can be deleted. 8
With the ↑ soft key, increase/decrease the P factor (MP2420.x) step by step just enough so that no undershoot is visible
8
Save this value with the STORE MP2420.x soft key.
8
With the P/I FACTOR soft key, select the I factor.
8
As a starting value for the I factor first enter the value 0, select the step increment SLOW, and press the ↑ soft key about 5 to 10 times.
8
With the ↑ soft key, increase/decrease the I factor (MP2430.x) step by step just enough so that no undershoot is visible
8
Save this value with the STORE MP2430.x soft key.
8
Press the END key to exit the Commission Current Controller mode.
The control carries out a reset. Note For linear and torque motors, adjust the P and I component of the current controller so that no overshoots are visible in the step response. This reduces motor noise.
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HEIDENHAIN Technical Manual iTNC 530
Properly adjusted step response:
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Commissioning Linear and Torque Motors
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7.12.4 Adjustment of the Speed Controller The speed controller should be adjusted to largely suppress oscillation frequencies but to permit short rise times. The following table shows approximate input values for commissioning the speed controller so that axes can be moved: Machine parameters
Value
MP1510.x
1 to 5; kV factor for velocity feedforward control
MP2500.x
1 to 50 for linear motors (starting value 1); 50 to 5000 for torque motors (starting value 50)
MP2510.x
10 to 2000 for linear motors (starting value 10); 1000 to 800 000 for torque motors (starting value 1000)
Increase positioning window and position monitoring
see “Commissioning” on page 6 – 317
MP2562.x to MP2566.x
0 (deactivate all filters)
MP2602.x, MP2604.x
0 (without IPC)
The current controller must have been adjusted and the field angle ascertained (see “Adjustment of the Current Controller” on page 7 – 47 and see “Field Orientation” on page 7 – 27). Preparation on the control
8
Position the axis or spindle to be optimized at a location where it can be commissioned safely.
8
Ensure that the loaded PLC program fulfills the following conditions:
Enable the drive controller NC stop inactive Axis direction buttons active As opposed to the CC 422, the internal oscilloscope of the control no longer needs to be started when adjusting the speed controller of the CC 424 with TNCopt.
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Setting the filters in the speed controller
8
To determine the oscillation frequencies of the speed controller, activate the Optimization/speed controller step response function in TNCopt.
The oscillation frequencies of the speed controller for linear and torque motors must be determined at slow feed rate in positive and negative traverse direction, and in the midpoint and end of the traverse range. Later you enter the ascertained frequencies, bandwidths and damping in the corresponding machine parameters (MP2542.x to MP2566.x). Normally no more than three filters are required. Experience recommends: At very small frequencies (< 200 Hz) use no filters Use very little damping (3 dB to 6 dB) at low frequencies (200 Hz to 400 Hz) The bandwidth should be approximately at center frequency Damping values are normally between 3 dB and 18 dB. Damping above 18 dB usually brings no further improvement. The use of a PT2 filter on linear motors does not bring positive results. For torque motors it is sometimes necessary to activate a PT2 filter (not below approx. 400 Hz). Note Only use the filters in the speed controller if they are necessary, i.e. if the P factor can be increased noticeably.
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Commissioning Linear and Torque Motors
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8
For P and I factors, set low values at first: (for linear motor: P factor = 1, I factor = 10; for torque motor: P factor = 50, I factor = 100).
8
Increase the P factor up to the oscillation limit in 10% steps (see the User’s Manual for TNCopt).
8
Find the characteristic values of the first filter (F1): Enter the oscillation frequency (e.g. at 479 Hz), Enter the bandwidth (e.g. 479 Hz, center frequency), Enter the damping (3 dB)
8
Examine the step response
8
Check whether a constant P factor decreases the excessive value
8
Increase the damping in 3-dB steps (damping greater than approx. 18 dB normally has no benefit)
HEIDENHAIN Technical Manual iTNC 530
8
Examine the step response. The oscillations should be greatly decreased
8
Increase the P factor further
This may cause new oscillations. When selecting filters, watch whether your selection causes or aggravates negative characteristics. If it does, do not activate any further filters.
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Commissioning Linear and Torque Motors
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Use filters only if the P factor can be significantly increased!
After finding the oscillation frequencies, several filters can be activated. 8
Adjusting synchronous and asynchronous motors
On the control, enter the determined filter type (MP2562.x to MP2566.x), the determined center frequency (MP2552.x to MP2556.x), the determined bandwidth (MP2572.x to MP2576.x) and the determined damping (MP2542.x to MP2546.x)
Synchronous and asynchronous motors are adjusted as described in the TNCopt User’s Manual. Use a filter if a sufficiently short enough rise time is not achieved (approx. 3 ms) (see “Setting the filters in the speed controller” on page 7 – 51). Using a filter also results in an increased P factor. The I factor must then be redetermined. In most cases automatic adjustment of synchronous and asynchronous motors determine rise times that are too short (< 2 ms). Rise times that are too short result in irregular control responses. In this case both the P and I factors must be reduced (until a rise time of approx. 2 ms is achieved).
Adjusting linear and torque motors
8
First determine the oscillation frequencies and adjust the filters, see “Setting the filters in the speed controller” on page 7 – 51
8
To adjust linear and torque motors, activate the Optimization/Linear motor adjustment function in TNCopt.
This makes it possible to automatically find the controller parameters in the sequence P factor, kV factor, I factor (also see the TNCopt User’s Manual). An NC program must be started in which the motor is moved back and forth. Because inhomogeneity of magnets, changing the air gap, and other factors can cause linear motors to oscillate more strongly at certain positions, HEIDENHAIN recommends adjusting the motor over a large range of traverse (approx. 300 mm to 500 mm).
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HEIDENHAIN Technical Manual iTNC 530
During adjustment, TNCopt now automatically increases the newly adjusted controller factor after each reversal point until it detects an oscillation limit. The respective current value is displayed in TNCopt. Usually you can already hear the oscillation limit being reached. In this case the oscillation limit is set per command button (see the TNCopt User’s Manual). The factors are reduced after detection of the oscillation limit. Then they are considered to be optimized values. Particularly the optimization of the I factor often results in very low frequency oscillations that the controller does not recognize as oscillations. Here the oscillation limit must be set by command button. 8
Move the axis back and forth.
The P factor, kV factor or I factor is automatically increased by 10% of the current value. 8
As soon as you hear an oscillation in the axis (also visible on the iTNC’s oscilloscope with I noml), set the oscillation limit via command button (see the TNCopt User’s Manual).
The determined P factor, kV factor or I factor is reduced and assumed. TNCopt automatically switches to finding the next factor 8
Also repeat the finding of the kV factor and I factor
The P, I and kV factors were found. 8
September 2006
Enter the determined values at the control in MP2500.x, MP2510.x and MP1510.x
Commissioning Linear and Torque Motors
7 – 55
Finding the feedforward values
Automatic adjustment of feedforward values in TNCopt often fails for linear motors. The reason is the often extreme ripple of the nominal current due to the pronounced torque ripple. But even if the automatic adjust does not work, TNCopt can still be used for manual adjustment. The proposed curves are sometimes not the optimum for linear motors. It can therefore be better for manual adjustment if you increase the traverse paths and the feed rate (by approximately doubling it, for example) and adjust the acceleration in MP1060 to about 1 m/s2 to 2 m/s2. If the integral current should approach the nominal current only very slowly, reduce the kV factor and increase the I factor. However, these changes should be undone after determining the feedforward values. The following image shows an adjustment of a very critical linear motor that has a decidedly inhomogeneous magnetic field. This can be seen from the nominal current, which fluctuates very strongly depending on the position:
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HEIDENHAIN Technical Manual iTNC 530
7.13 Determining Entries for Motor Tables Note If you use a linear or torque motor that is not listed in the current HEIDENHAIN motor table, please contact HEIDENHAIN. As an alternative, you can also determine the input values yourself. 7.13.1 Determining Data for Linear Motors The motor data for linear motors are entered in the motor table after some conversions using the values from the motor data sheet of the respective manufacturer (here using the example of a Siemens motor). Values in the HEIDENHAIN motor table
Values from the motor data sheet
TYPE: LSM
Permanently excited Linear Synchronous Motor
NAME: 1FN3900-4WB0
1FN3900-4WB0
MODE: 0 Rated current I-N in [Aeff] winding I-N: 49.4
Data sheet value IN IN = 49.4 A
Rated voltage U-N in [Veff] interlinked U-N: 394
Calculation from data sheet values FN, IN, RP.120, LP U-N =
3
⋅
2 2 (U + U ) + U e r x
Ue
= N-N / (1000mm/m) ⋅ FN / (IN ⋅ 3) = (2.66 m/s) ⋅ 8100 N / (49.4 A ⋅ 3) = 145.4 Veff L-N
Ur
= RP.120 ⋅ IN = 0.8 Ω ⋅ 49.4 A = 39.5 Veff L-N
Ux
= 2 ⋅ π ⋅ F-N ⋅ LP ⋅ IN = 2 ⋅ π ⋅ 57 Hz ⋅ 0.0075 H ⋅ 49.4 A = 132.69 Veff L-N
U-N = 394 Veff (L-L) Rated speed N-N in [mm/s] N-N: 2666
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Calculation from data sheet value vMAX,FN N-N = (1000 mm/m) ⋅ VMAX,FN / (60 s/min) = (1000 mm/m) ⋅ (160 m/min) / (60 s/min) = 2666 mm/s Note: Other meaning than for rotating motors!
Determining Entries for Motor Tables
7 – 57
Values in the HEIDENHAIN motor table
Values from the motor data sheet
Rated frequency F-N in [Hz] F-N: 57
Calculation from V-N, distance per electrical period (see entry in STR column) F-N = N-N ⋅ (1000 µm/mm) / (distance per elec. period [µm]) F-N = (2666 mm/s) ⋅ (1000 µm/mm) / (46 000 µm) = 57 Hz
No-load voltage at rated velocity U0 in [Veff] interlinked U0: 252
Calculation from V-N and data sheet value kF,3 U0 = N-N / (1000 mm/m) ⋅ (kF,3 / 3) ⋅ √3 = 2.66 m/s ⋅ (164 N/A / 3) ⋅ √3 = 252 Veff L,L
No-load current I0 in [Aeff] winding I0: 0 Primary winding resistance at 20 °C R1 in [mΩ] at 20° C R1: 600
Calculation from data sheet value RP,20 R1 = RP,20 ⋅ 1000 = 0.6 Ω ⋅1000 = 600 mΩ
Rotor resistance at 20 °C R2 in [mΩ] at 20° C R2: 0 Primary winding leakage reactance at F-N Xstr1 in [mΩ] Xstr1: 0
If nothing given, then zero.
Runner leakage reactance at F-N Xstr2 in [mΩ] Xstr2: 0 Magnetizing reactance XH for F-N at rated conditions XH in [mΩ] XH: 2685
Calculation from F-N and data sheet value LP XH = 2 ⋅ π ⋅ F-N ⋅ LP = 2 ⋅ π ⋅ 57 Hz ⋅ 7.5 mH = 2685 mΩ
Desaturation velocity N-XH in [rpm] N-XH: 0 Rotational speed of beginning field weakening range N-FS [rpm] N-FS: 0 Max. velocity (mechanical) N-MAX in [mm/s] N-MAX: 2666
Calculation from data sheet value vMAX,FN N-MAX= 160 m/min ⋅ (1000 mm/m) / (60 s/min) = 2666 mm/s Note: Other meaning than for rotating motors!
Saturation factor %-XH in % %XH: 100 Stalling torque reduction factor %-K in % %-K: 100 No. of pole pairs (half pole no. of motor) PZ PZ: 1
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HEIDENHAIN Technical Manual iTNC 530
Values in the HEIDENHAIN motor table
Values from the motor data sheet
Temperature coefficient of the primary winding TK in 1/K TK: 0.004 Distance per electrical period STR STR: 46 000
Calculation from data sheet value τM Path = τM ⋅ 2 ⋅ (1000 µm/mm) = 23 mm ⋅ 2 ⋅ (1000 µm/mm) = 46 000 µm Note: Other meaning than for rotating motors!
Type of encoder SYS: 3
Incremental encoder (e.g. LB): 8 Absolute encoder with EnDat interface (e.g. LC): 3
Counting direction DIRECT. DIRECT.: + Max. temperature of motor at temperature feeler Data sheet value TP, MAX T-MAX in [°C] TP, MAX = 120 °C T-MAX: 120 Maximum motor current I-MAX in [Aeff] winding I-MAX: 138.9
Data sheet value IMAX IMAX = 138.9 Aeff
Rated power P-N in [W] P-N: 21600
Calculation from data sheet values vMAX,FN, FN P-N = vMAX,FN ⋅ (1 min/60 s) ⋅ FN P-N = 160 m/min ⋅ (1 min/60 s) ⋅ 8100 N P-N = 21600 W
Mass of primary winding J in [kg] J: 56.2
Data sheet value mP mP = 56.2 kg Note: Other meaning than for rotating motors!
Inductivity of the series reactor L in [mH] L: 0 µH As long as (X1str+Xh) / (2 ⋅ π ⋅ (N-N / 60) ⋅ PZ) is greater than 700 µH, no series reactor is required. Thermal time constant for direct current T-DC in [s] T-DC: 0 Lower thermal cutoff frequency F-DC in [Hz] F-DC: 0 Thermal time constant for alternating current T-AC in [s] T-AC: 0 Upper thermal cutoff frequency F-AC in [Hz] F-AC: 0
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Determining Entries for Motor Tables
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7.13.2 Determining Data for Torque Motors The motor data for torque motors are entered in the motor table after some conversions using the values from the motor data sheet of the respective manufacturer (here using the example of an ETEL motor). Values in the HEIDENHAIN motor table
Values from the motor data sheet
TYPE: SM
Permanently excited synchronous motor (SM)
NAME: Etel-TMA0360-070-3UC
TMA0360-070-3UC
MODE: 0 Rated current I-N in [Aeff] winding I-N: 32.6
Data sheet value IN IN = 49.4 A
Rated voltage U-N in [Veff] interlinked U-N: 252
Calculation from data sheet values FN, IN, RP.120, LP U-N =
3
⋅
2 2 (U + U ) + U e r x
Ue = 2 ⋅ π ⋅ (N-N / 60) ⋅ Tcw105 / Icw105 / 3 Ue = 2 ⋅ π ⋅ (180 / 60) ⋅ 485 / 32.6 / 3 Ue = 93.48 Veff L,N Ur = (R105L;L / 2) ⋅ Icw105 Ur = (1.92 / 2) ⋅ 32.6 Ur = 31.30 Veff L,N Ux = 2 ⋅ π ⋅ (n / 60) ⋅ (2p / 2) ⋅ (L1L,L / 2) ⋅ Icw105 Ux = 2 ⋅ π ⋅ (180 / 60) ⋅ (66 / 2) ⋅ (0.00738 / 2) ⋅ 32.6 Ux = 74.83 Veff L,N U-N = 252.0 Veff L,L Rated speed N-N in [rpm] N-N: 180
Data sheet value n N-N = 180 rpm
Rated frequency F-N in [Hz] F-N: 99
Calculation from data sheet value n in 2p F-N = (n / 60) ⋅ (2p / 2) F-N = (180 / 60) ⋅ (66 / 2) = 99 Hz
No-load voltage at rated speed U0 in [Veff] interlinked U0: 252
Calculation from data sheet value n in Kt U0 = 2 ⋅ π ⋅ (n / 60) ⋅ (Kt / 3) ⋅ √3 U0 = 2 ⋅ π ⋅ (180 / 60) ⋅ (15.7 / 3) ⋅ √3 U0 = 170.9 Veff L,L
No-load current I0 in [Aeff] winding I0: 0 Stator resistance at 20 °C R1 in [mΩ] at 20° C R1: 670
Calculation from data sheet value R20L-L R1 = R20L-L / 2 = 1.34 Ω / 2 = 670 mΩ
Rotor resistance at 20 °C R2 in [mΩ] at 20° C R2: 0
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HEIDENHAIN Technical Manual iTNC 530
Values in the HEIDENHAIN motor table
Values from the motor data sheet
Stator leakage reactance at F-N Xstr1 in [mΩ] Xstr1: 0
If nothing given, then zero.
Runner leakage reactance at F-N Xstr2 in [mΩ] Xstr2: 0 Magnetizing reactance XH for F-N at rated conditions XH in [mΩ] XH: 2295
Calculation from data sheet value L1L-L, n and 2p XH = 2 ⋅ π ⋅ (n / 60) ⋅ (2p / 2) ⋅ (L1L,L / 2) = 2 ⋅ π ⋅ (180 / 60) ⋅ (66 / 2) ⋅ (0.00738 / 2) = 2295 mΩ
Desaturation speed N-XH in [rpm] N-XH: 0 Rotational speed of beginning field weakening range N-FS [rpm] N-FS: 0 Maximum speed (mechanical) N-MAX in [rpm] N-MAX: 180
Data sheet value n N-MAX = 180 rpm
Saturation factor %-XH in % %XH: 100 Stalling torque reduction factor %-K in % %-K: 100 No. of pole pairs (half pole no. of motor) PZ PZ: 33
From data sheet value 2p PZ = 2p/2 PZ = 66/2 = 33
Temperature coefficient of the stator winding TK in 1/K TK: 0.004 Line count of the encoder STR STR: 32768 Type of encoder SYS: 5
Incremental encoder with Z1 track: 1 Aligned absolute encoder with EnDat interface: 2 Unaligned absolute encoder with EnDat interface: 5 Unaligned incremental encoder with distancecoded reference marks: 7
Counting direction DIRECT. DIRECT.: + Max. temperature of motor at temperature feeler T-MAX in [°C] T-MAX: 120 Maximum motor current I-MAX in [Aeff] winding I-MAX: 53
September 2006
Data sheet value Ip I-MAX = 53.0 Aeff
Determining Entries for Motor Tables
7 – 61
Values in the HEIDENHAIN motor table
Values from the motor data sheet
Rated power P-N in [W] P-N: 9142
Calculation from n and Tcw105 P-N = 2 ⋅ π ⋅ (n / 60) ⋅ Tcw105 P-N = 2 ⋅ π ⋅ (180 / 60) ⋅ 485 Nm P-N = 9142 W
Motor mass moment of inertia J in [kgm2] J: 0.157
Data sheet value J J = 0.157 kgm2
Inductivity of the series reactor L in [mH] L: 0 µH As long as (X1str+Xh) / (2 ⋅ π ⋅ (N-N / 60) ⋅ PZ) is greater than 700 µH, no series reactor is required. Thermal time constant for direct current T-DC in [s] T-DC: 0 Lower thermal cutoff frequency F-DC in [Hz] F-DC: 0 Thermal time constant for alternating current T-AC in [s] T-AC: 0 Upper thermal cutoff frequency F-AC in [Hz] F-AC: 0
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✎
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Determining Entries for Motor Tables
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HEIDENHAIN Technical Manual iTNC 530
8 Machine Integration 8.1 Display and Operation ..................................................................... 8 – 3 8.1.1 Position and Status Display ....................................................... 8 – 3 8.1.2 Modes of Operation ................................................................. 8 – 17 8.1.3 Operating Times ...................................................................... 8 – 19 8.1.4 Error Messages ....................................................................... 8 – 24 8.1.5 Help ......................................................................................... 8 – 29 8.1.6 PLC Pop-Up Window ............................................................... 8 – 32 8.1.7 Machine Datum ....................................................................... 8 – 35 8.1.8 NC Program ............................................................................. 8 – 40 8.1.9 Cycles ...................................................................................... 8 – 47 8.1.10 End of Program Run .............................................................. 8 – 50 8.1.11 Returning to the Contour ....................................................... 8 – 50 8.1.12 M Functions ........................................................................... 8 – 57 8.1.13 Powering Up and Shutting Down the Control ....................... 8 – 65 8.1.14 Arc End-Point Tolerance ........................................................ 8 – 68 8.1.15 Radius Compensation ............................................................ 8 – 68 8.1.16 User Parameters .................................................................... 8 – 69 8.1.17 Code Numbers ....................................................................... 8 – 70 8.1.18 Programming Station Mode ................................................... 8 – 71 8.1.19 Color Settings ........................................................................ 8 – 71 8.1.20 Graphic Display ...................................................................... 8 – 77 8.1.21 Special Characters ................................................................. 8 – 78 8.1.22 iTNC Character Set ................................................................ 8 – 79 8.1.23 Conversational Language ....................................................... 8 – 84 8.1.24 Logs ....................................................................................... 8 – 85 8.1.25 Diagnostic Functions ............................................................. 8 – 94 8.2 PLC Window ................................................................................. 8 – 104 8.2.1 Small PLC Window ................................................................ 8 – 104 8.2.2 Large PLC Window ............................................................... 8 – 108 8.3 PLC Soft Keys ............................................................................... 8 – 122 8.3.1 Soft-Key Project File for Screen ............................................. 8 – 122 8.3.2 Soft-Key Project File for HR 420 ............................................ 8 – 135 8.3.3 Compatibility to TNC 426/TNC 430 ........................................ 8 – 138 8.4 Keystroke Simulation .................................................................. 8 – 141 8.4.1 iTNC Keyboard Unit ............................................................... 8 – 141 8.4.2 Machine Operating Panel ...................................................... 8 – 147 8.4.3 Touchpad on USB Port .......................................................... 8 – 148 8.5 Files................................................................................................ 8 – 150 8.5.1 Datum Tables (*.D) ................................................................ 8 – 152 8.5.2 Freely Definable Tables ......................................................... 8 – 152 8.5.3 PLC Files ................................................................................ 8 – 162 8.6 Pallet Management ...................................................................... 8 – 167 8.7 Electronic Handwheel .................................................................. 8 – 176 8.7.1 HR 130 Panel-Mounted Handwheel ...................................... 8 – 179 8.7.2 HR 410 Portable Handwheel ................................................. 8 – 179 8.7.3 HR 420 Portable Handwheel ................................................. 8 – 181 8.7.4 HR 150 Panel-Mounted Handwheels with HRA 110 Handwheel Adapter ................................................ 8 – 184
September 2006
8–1
8.8 PLC Inputs/Outputs ..................................................................... 8 – 186 8.8.1 24 Vdc Switching Input/Outputs ........................................... 8 – 191 8.8.2 Analog Inputs ......................................................................... 8 – 195 8.8.3 Analog Outputs ...................................................................... 8 – 198 8.9 Incremental Jog Positioning ....................................................... 8 – 199 8.10 Hirth Coupling ............................................................................ 8 – 201 8.11 Datum Shift................................................................................. 8 – 203 8.12 Touch Probe................................................................................ 8 – 204 8.12.1 Using the Touch Probes ...................................................... 8 – 204 8.12.2 Touch Probe Cycles ............................................................. 8 – 206 8.12.3 Measurement Log in Manual Touch Probe Cycles .............. 8 – 214 8.12.4 Measurement Log in the Touch Probe Cycles for Probing from the NC program ........................................ 8 – 217 8.12.5 Tool Measurement .............................................................. 8 – 220 8.13 Special Functions for Laser Cutting Machines ........................ 8 – 230 8.13.1 Analog Voltage Output ........................................................ 8 – 230 8.13.2 Graphic Simulation without TOOL CALL ............................. 8 – 232 8.13.3 Program Stop for M Functions and TOOL CALL S .............. 8 – 233 8.14 Tool Changer .............................................................................. 8 – 235 8.14.1 Tool and Pocket Number ..................................................... 8 – 235 8.14.2 Tool-Usage Test ................................................................... 8 – 264 8.14.3 Automatic Calculation of Cutting Data ................................. 8 – 267 8.14.4 Automatic Tool Recognition ................................................ 8 – 269 8.14.5 Controlling the Tool Changer ............................................... 8 – 270 8.14.6 PLC Programming Example ................................................. 8 – 293
8–2
HEIDENHAIN Technical Manual iTNC 530
8 Machine Integration 8.1 Display and Operation You can modify the display and operating modes of the iTNC by editing the machine parameters. The display screen is divided into separate windows. The user can select the operating functions by soft key. Refer to the User’s Manual. 8.1.1 Position and Status Display The status display shows the status of the control. With a soft key you can activate an additional status display in the graphic window instead of the graphic. This information includes: Axis positions Tools Feed rate M Functions Active spindle (S1 or S2) Active time Position display step
To define the position display step for axis and spindle positions: 8
Enter the desired display step for the axes in MP7290.x and for the spindle in MP7289.
The position loop resolution is not influenced by this parameter.
September 2006
MP7290.x Input:
Position display step for the axes 0: 0.1 mm or 0.1° 1: 0.05 mm or 0.05° 2: 0.01 mm or 0.01° 3: 0.005 mm or 0.005° 4: 0.001 mm or 0.001° 5: 0.0005 mm or 0.0005° 6: 0.0001 mm or 0.0001°
MP7289 Input:
Position display step for the spindle 0: 0.1° 1: 0.05° 2: 0.01° 3: 0.005° 4: 0.001° 5: 0.0005° 6: 0.0001°
Display and Operation
8–3
Position display of the tool axis
The tool length can be offset in the position display of the tool axis. If it is, the displayed position value then refers to the tool point: 8
With MP7285, select whether the tool length should be offset.
The behavior of an incremental block after a TOOL CALL can be specified: 8
Position display for rotary axes and PLC auxiliary axes
With MP7682 bit 0, select whether the tool length should be offset.
MP7285 Input:
Tool length offset in the tool-axis position display 0: Tool length is not offset 1: Tool length is offset
MP7682 Input:
Machine parameter with multiple function Bit 0 – Incremental block after TOOL CALL 0: With length compensation 1: Without length compensation
For these axes you can set the modulo value for the counting mode (i.e. the value after which the axis display returns to zero). The software limit switches become inactive when the modulo counting mode is activated. However, for the modulo counting mode you can activate software limit switches for a positive traverse-range limit (e.g. 10 ... 180 in MP91x.x or 92x.x) via MP812. Generally, the traverse range in MP91x.x must be > 0 and MP92x.x must be < MP810.x. This traverse-range limit cannot be restricted additionally in the manual operating mode. Negative traverse-range limits, or those with different algebraic signs, are not supported for the modulo counting mode yet. Note Please note that the traverse-range limits set earlier in the manual operating mode also become active in the modulo counting mode when MP812.x is set. However, these can no longer be edited or viewed in the manual operating mode. 8
Select the display mode with MP810.x.
8
Activate or deactivate the software limit switches with MP812.
Rotary axes with modulo display can be positioned either without crossing zero or always along the shortest path: 8
Select the type of positioning with MP7682. • For bit 2=0: Programming with M126 • For bit 2=1: You need not program with M126.
8–4
HEIDENHAIN Technical Manual iTNC 530
MP810.x Input:
Display mode for rotary axes and PLC auxiliary axes 0.0000 to 99 999.9999 [°] 0: Display +/–99 999.9999 ≠0: Modulo value for display
MP812
Activate software limit switches for tilting axes with modulo display, M94 and encoders with EnDat interface %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Software limit switch not active 1: Software limit switch active
Input:
MP7682 Input:
September 2006
Machine parameter with multiple function Bit 2 – Traverse path of rotary axes with modulo display 0: Positioning without passing over zero 1: Positioning on the shortest path
Display and Operation
8–5
Reading of axis coordinates
8
Read the axis coordinates with Module 9040 or Module 9041.
The values are saved in double words beginning at the given address. Enough double words must be reserved. The number of required addresses is according to the AXISNUMBER = entry in OEM.SYS. If this entry does not exist, the number is according to the enabled control loops. To define the coordinate value of an axis, the reference point of the axis must first be traversed. Module 9040 Reading of axis coordinates (format 0.001 mm) Call: SEE MODULE 9041. Module 9041 Reading of axis coordinates (format 0.0001 mm) Call: PS K/B/W/D PS K/B/W/D 0: Actual values 1: Nominal values 2: Actual values in the reference system 3: Lag error 4: Distance-to-go 5: Deflection (measuring touch probe) 6: Actual values in the shifted reference system (datum shift) 7: Reference values with backlash compensation offset from MP710.x 8: Temperature compensation from the description tables of the titling-axis geometry CM 9040 OR CM 9041 Error recognition:
8–6
Marker
Value
Meaning
M4203
0
No error
1
Invalid coordinate type, target address too large, or given target address is not a double-word address
HEIDENHAIN Technical Manual iTNC 530
Free rotation
Free rotation means that the rotary axis rotates as often as required (with a display range of 0 to 360°) without being affected by software limit switches. You can define the free rotation function through words (axis 4 and 5) or with Module 9223. No uncontrolled axes can be used for this function, but PLC axes (auxiliary axes) are possible along with main axes. The maximum feed rate is 300 000 °/min. The feed rate is not shown in the status window. You can change the feed rate with the override potentiometer (W754), for example by copying W494 (active feed rate override) to W754. MP7620 bit 3 is taken into account.
Free rotation defined by words
W566 Feed rate in axis 4 for free rotation W567 Feed rate in axis 5 for free rotation W754 Feed rate override percentage for free rotation B518 Defining the free rotation function B519 Traverse direction for free rotation M4133 Starting and stopping the free rotation function If you set M4133, the NC takes the information from B518 and B519 and resets M4133.
Free rotation with Module 9223
If a program has been started, the module may be called only in conjunction with an M/S/T/Q strobe. Module 9223 Free rotation When the module is called, M4133 is set (start and stop). The feed-rate override in W754 remains in effect. Call: PS PS PS
CM PL
September 2006
B/W/D/K 0 ... Max. B/W/D/K B/W/D/K 0: Stop +1: Start in positive direction –1: Start in negative direction 9223 B/W/D 0: No error: Positioning is started/stopped 1: No rotary axis transferred 2: Impermissible feed rate 3: Axis has not traversed the reference mark 4: No M/S/T/Q strobe during running program 5: Programmed axis not in closed loop
Display and Operation
8–7
M4133 B518
Starting and stopping the free rotation function Defining the free rotation function 0: Cancel the function
Set
Reset
PLC
NC
PLC
PLC
PLC
PLC
PLC
PLC
PLC
PLC
8: Free rotation for axis 4 B519
16: Free rotation for axis 5 Traverse direction for free rotation 0: Axis 4 and axis 5 = + 8: Axis 4 = – , axis 5 = + 16: Axis 4 = +, axis 5 = –
W754 W566 - 568
8–8
24: Axis 4 and axis 5 = – % function for feed-rate override for free rotation Feed rate for free rotation Axis 4 to axis 5
HEIDENHAIN Technical Manual iTNC 530
Feed-rate display
The programmed contour feed rate is displayed in the Program run, single block and Program run, full sequence operating modes. With the feed rate potentiometer you can change the feed rate from 0 to 150%. If rapid traverse was programmed, FMAX is displayed and M4180 is set. The percentage adjusted with the feed rate override is entered by the NC in W494 and W766. You can change the percentage through the PLC: 8
Enter the desired percentage in W766. The NC immediately takes over the new value.
The feed-rate override is effective either in 1% steps or according to a nonlinear characteristic curve: 8
With MP7620 bit 3, select the mode of the override.
Value range in W494 and W766: 1% steps: 1 to 150 Nonlinear characteristic curve: 0 to 15 000 In the lowest range, 0.01% steps are available. Beginning with a value of 2.5%, the step is 0.75%. In the manual modes of operation the axis feed rate is shown instead of the contouring feed rate. You can choose between two types of display: The axis feed rate is shown after you press an axis-direction key. If two keys are pressed simultaneously, no feed rate is displayed. If no key is pressed, the smallest axis feed rate is always shown. The PLC axes are not included in the selection of the smallest feed rate. If more than one key is pressed simultaneously, a feed rate is also displayed. 8
Define the type of display in MP7270.
MP7270 Input:
MP7620 Format: Input:
September 2006
Feed rate display in the operating modes MANUAL OPERATION and ELECTRONIC HANDWHEEL 0: Display of axis feed rate through pressing an axis direction key (axis-specific feed rate from MP1020) 1: Display of axis feed rate also before an axis direction key is pressed (smallest value from MP1020 for all axes) Feed-rate override and spindle speed override %xxxxxxx Bit 0 – Feed-rate override if rapid-traverse key is pressed in Program Run mode: 0: Override not effective 1: Override effective Bit 1 – Non-functional Bit 2 – Feed-rate override if rapid-traverse key and machinedirection button are pressed in Manual mode: 0: Override not effective 1: Override effective Bit 3 – Feed-rate override and spindle speed override in 1% increments or according to a nonlinear characteristic curve: 0: 1% steps 1: Nonlinear characteristic curve
Display and Operation
8–9
W494 W766 M4180 Feed rate for rotary axes
Percentage for feed rate override (NC to PLC) Percentage for feed rate override (PLC to NC) Rapid traverse programmed (FMAX)
Set
Reset
NC
NC
NC/PLC NC/PLC NC
NC
The iTNC interprets the programmed feed rate for a rotary axis in degrees per minute. The contour feed rate depends on the distance of the tool center from the center of the rotary axis. With the M116 function the contouring feed rate can be converted to mm/min. In this way the feed rate is independent of the distance from the tool center to the center of axis rotation: 8
Display of the M functions
Define the rotation center of the rotary axis with MP75xx. Also see page 6 – 55.
The following functions are displayed in the status window: M03, M04, M05: Miscellaneous functions for spindle control M07, M08, M09: Miscellaneous functions for coolant control You can control the display of the these functions through the PLC. M4005, M4006: Status display, M03 and M04 change the direction of rotation of the spindle. M4008: Blocks the speed output for the spindle. The programmed spindle speed continues to be displayed. At the same time, M03, M04 or M05 are highlighted. The nominal speed value is zero. Other M functions of the NC are shown in the status window.
M4005 M4006 M4007 M4008 M4040 M4041 M4042
8 – 10
Status display and nominal speed value output for M03 Status display and nominal speed value output for M04 Status display M05 and spindle stop Disable speed output for spindle Status display M07, M08, and M09 highlighted Status display M07, M08, M09, MK Status display M07, M08, M09, MK
Set
Reset
PLC
PLC
PLC
PLC
PLC PLC PLC
PLC PLC PLC
PLC PLC
PLC PLC
HEIDENHAIN Technical Manual iTNC 530
M4041
M4042
Display
0
0
M09
1
0
M07
0
1
M08
1
1
MK
M functions of the PLC can be displayed in the status window: 8
With Module 9088 you can display M functions in the status window or delete them.
M functions of the NC
M functions of the PLC (displayed via Module 9088)
Module 9088 Displaying the M functions Call: PS B/W/D/K PS B/W/D/K –1: Delete all M functions in the status window 0: Delete M function 1: Display M function CM 9088 Error recognition: Marker
Value
Meaning
M4203
0
M function displayed or deleted
1
Error code in W1022
W1022
September 2006
1
Invalid M-function number
2
Invalid mode number
Display and Operation
8 – 11
Control in operation
If the control is at work, e.g. executing a positioning movement or an M function, a symbol resembling an asterisk (*) is shown in the status window. If a running NC program is interrupted with an external stop key, the controlin-operation symbol blinks in the status display window. In the Positioning With Manual Data Input, Program Run, Single Block and Program Run, Full Sequence operating modes, these conditions are reported to the PLC with M4175 and M4176. To delete or display the control-in-operation symbol through the PLC: 8
Ensure that the control-in-operation symbol is not already blinking or being displayed by the NC.
8
Enter the command code in Module 9089.
Module 9089 Control in operation The control-in-operation symbol can be set only if it is not already being displayed by the NC, since the NC has priority over the PLC. If the symbol is being displayed by the NC, it cannot be erased. M4176 is not influenced by the display of the control-in-operation symbol through the PLC. Call: PS
CM PL
B/W/D/K 0: Clear the control-in-operation symbol 1: Display the control-in-operation symbol 9089 B/W/D 0: Control-in-operation symbol was cleared/displayed 1: Incorrect error code 2: Control-in-operation symbol is already being displayed by the NC 3: Control-in-operation symbol is blinking 4: Control-in-operation symbol was not erased because it is already being displayed by the NC
Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Incorrect transfer parameter Set
M4175 M4176
8 – 12
Program interruption, control-inNC operation symbol is blinking Control is in operation, control-inNC operation symbol is on or is blinking
Reset NC NC
HEIDENHAIN Technical Manual iTNC 530
Clearing the status information
To erase the status information, tool data and contents of the Q parameters: 8
Select the conditions with MP7300.
Status information is all programmed values, such as scaling factor, datum shift, feed rate, tolerance from Cycle 32, etc. These are all reset, and the tolerance programmed in Cycle 32 is cleared (is only effective again with MP1096.x). The Q parameters and tool data are set to zero. MP7300 Input:
September 2006
Erasing the status information, tool data and Q parameters 0: Erase the status information, Q parameters and tool data if a program is selected. 1: Erase the status information, Q parameters and tool data if a program is selected and in the event of M02, M30, and END PGM. 2: Erase the status information and tool data if a program is selected. 3: Erase the status information and tool data if a program is selected and in the event of M02, M30, END PGM. 4: Erase the status information and Q parameters if a program is selected. 5: Erase the status information and Q parameters if a program is selected and in the event of M02, M30, END PGM. 6: Erase the status information if a program is selected. 7: Erase the status information when a program is selected and in the event of M02, M30, END PGM.
Input
Erase if Erase if PGM MGT M02, M30, END PGM
Status Tool data information
Q parameters
0
x
–
x
x
x
1
x
x
x
x
x
2
x
–
x
x
–
3
x
x
x
x
–
4
x
–
x
–
x
5
x
x
x
–
x
6
x
–
x
–
–
7
x
x
x
–
–
Display and Operation
8 – 13
Interrogating the status display through the PLC
Module 9035 Reading status information With this module you can interrogate the status display or read the status information. You transfer a number indicating the desired information. In order to receive information about the status of the alternative smarT.NC operating mode, please use the operating mode markers or the operating mode word (See “Modes of Operation” on page 8 – 17)
Transferred number
Return code
0
Editor mode in foreground
0: Programming and Editing 1: Test Run
1
Machine mode in foreground
0: Cross over reference points 1: Manual Operation 2: El. Handwheel 3: Positioning with Manual Data Input 4: Program Run, Single Block 5: Program Run, Full Sequence
2
Editor mode in background
0: None (main operating mode active) 1: MOD active 2: Program management/external interfaces active 3: MP editor active 4: PLC programming active
3
Machine mode in background
0: None (main operating mode active) 1: MOD active 2: Program management/external interfaces active 3: Tool table selected 4: Pocket table selected 5: Other table editor active
4
Displayed screen window
Bit-encoded Bits 0 to 7: Editing screen Bit 0=1: Editing screen is displayed Bit 1=1: Operating-mode window active Bit 2=1: Block display/program select/setup window active Bit 3=1: Position display active Bit 4=1: PLC status window active Bit 5=1: Status/Graphics window active Bits 6/7: Reserved Bits 8 to 15: Machine screen Bit 8=1: Machining screen is displayed Bits 9 to 15: Reserved
5
Selected file in Programming and Editing or Test Run
0: No file 1: *.H (conversational NC PGM) 2: *.I (ISO NC PGM) 3: *.T (tool table) 4: *.D (datum table) 5: *.P (pallet table) 6: *.A (ASCII file) 7: *.TCH (pocket table)
6
Selected file in Program run, full sequence and Program run, single block
0: No file 1: *.H (conversational NC PGM) 2: *.I (ISO NC PGM)
8 – 14
HEIDENHAIN Technical Manual iTNC 530
Transferred number
Return code
7
Selected axis for actual position capture in Programming and Editing mode
0 to 13: Axes 1 to 14
8
Selected axis for actual position capture in Positioning with MDI mode
0 to 13: Axes 1 to 14
9
Handwheel axis
–1: None or more than one 0 to 2: X, Y, Z 3 to 13: axes 4 to 14
10
Handwheel axis, bit-encoded
Bit 0: X axis Bit 1: Y axis Bit 2: Z axis Bits 3 to 13: Axes 4 to 14
Handwheel interpolation factor 11 12 13 14 15
X key Y key Z key IV key V key
0 to 10
16
Input format of the $MDI file
0: *.H (conversational NC PGM) 1: *.I file (ISO NC PGM)
17
Display format
0: mm 1: inches
18
Tilting working plane
Bit 0=1: Tilting is active Bit 1=1: Tilting is selected for manual operation Bit 2=1: Tilting is selected for program run
19
Active line in the *.CMA file
>=0: Line number –1: No *.CMA file
20
HR 410 speed
0: Slow 1: Medium 2: Fast
21
Control model
0: TNC 310 1: TNC 370 2: TNC 410 3: TNC 426 CA/PA 4: TNC 426 CB/PB/M or TNC 430 CA/PA/M 5: iTNC 530 6: iTNC 530 (with Windows 2000) 20: ATEK M
22
Status of M128
0: M128 not active 1: M128 active
23
Handwheel superimposition with M118
0: M118 not active Bits 0 to 13: Axes 1 to 14
26
Jog increment
27
Traverse range
28
Query of the superimposed operating 0: No table in editing mode mode “Table editing” in the 3: Tool table in editing mode “Machine” operating mode 4: Pocket table in editing mode
September 2006
Display and Operation
8 – 15
Transferred number
Return code
Handwheel interpolation factor 31 32 33 34 35 36 37 38 39
Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9
0 to 10
Tool change 50 51 52 53 54
Tool change sequence (see FN18: SYSREAD ID61 NR0) Pocket number for reserve Magazine number for reserve Pocket number for insertion Magazine number for insertion
100
Number of the tool axis
1000 Table editor (only in a spawn job or submit job)
>= 0: Active line in the table editor –1: Table editor not active
1001 Pallet table (only in a spawn job or submit job)
>= 0: Active line in the pallet table –1: Pallet table not active
1002 Status of pallet processing
–1: Main program is not a pallet table 0: Processing was not started 1: NC program is selected but not started 2: NC program was started 3: Pallet-change macro was started 4: Macro from the PALEPILOG entry in NCMAKRO.SYS was started 5: Pallet-change macro was started by the PLC (Module 9280)
Call: PS CM PL
B/W/D/K 9035 B/W/D
Error recognition:
8 – 16
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
1
Status information invalid
20
Call was not in a submit or spawn job
HEIDENHAIN Technical Manual iTNC 530
8.1.2 Modes of Operation The iTNC features main operating modes, background operating modes, and the alternative smarT.NC operating mode. The background operating modes are each called from the main operating modes. Each operating mode and the varied corresponding information can be interrogated and evaluated via the PLC. The “Machine” and “Editor” operating modes can be interrogated via markers, W272 and a PLC module (See “Module 9035 Reading status information” on page 8 – 14), and the alternative smarT.NC operating mode can be interrogated via Marker M4163 in combination with W272.
M4150 M4151 M4152
M4153
M4154
M4155 M4163 M4186
September 2006
“Manual operation” main operating mode is active “Electronic Handwheel” main operating mode is active Operating mode marker “Positioning with Manual Input” main operating mode (if smarT.NC inactive --> M4163 = 0) “RUN ACTIVE UNIT” smarT.NC main operating mode (if smarT.NC active --> M4163 = 1) Operating mode marker “Program Run, Single Block” main operating mode (if smarT.NC inactive --> M4163 = 0) “RUN SINGLE UNITS” smarT.NC main operating mode (if smarT.NC active --> M4163 = 1) Operating mode marker “Program Run, Full Sequence” main operating mode (if smarT.NC inactive --> M4163 = 0) “RUN ALL UNITS” smarT.NC main operating mode (if smarT.NC active --> M4163 = 1) “Traversing the Reference Points” main operating mode is active Alternative operating mode “smarT.NC” is active NC program was started in the Test Run mode
Display and Operation
Set
Reset
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
8 – 17
W272
“Machine” operating modes
Operating mode word If smarT.NC inactive --> M4163 = 0 1: MANUAL OPERATION 2: ELECTRONIC HANDWHEEL 3: POSITIONING WITH MANUAL DATA INPUT 4: PROGRAM RUN, SINGLE BLOCK 5: PROGRAM RUN, FULL SEQUENCE 7: TRAVERSING THE REFERENCE POINTS If smarT.NC active --> M4163 = 1 3: RUN ACTIVE UNIT 4: RUN SINGLE UNITS 5: RUN ALL UNITS
Set
Reset
NC
NC
“Machine” main operating modes • Traverse the reference marks (not with absolute encoders) • Manual Operation • El. Handwheel • Positioning with Manual Data Input Machine individual NC blocks without a special program context • Program Run, Single Block Machine an NC program block by block. Each NC block must be started manually. • Program Run, Full Sequence Completely machine the NC program “Machine” background operating modes (cannot be called from every main operating mode) • MOD Basic settings and information • Program Management/Interfaces File manager and configuration of external interfaces • Edit Tool Table • Edit Pocket Table • Edit Other Tables
“Editor” operating modes
“Editor” main operating modes • Programming and Editing • Test Run Virtual machining of a workpiece with nearly real-time graphic simulation “Editor” background operating modes • MOD General settings and settings via keyword • Program Management/Interfaces • MP editor • PLC programming
8 – 18
HEIDENHAIN Technical Manual iTNC 530
Alternative operating mode “smarT.NC”
Overview of the “smarT.NC” operating modes smarT.NC: Programming operating mode Program creation. This smarT.NC operating mode is comparable to Programming and Editing of the “Editor” main operating mode. smarT.NC: File Management operating mode smarT.NC: Testing operating mode This smarT.NC operating mode is comparable to Test Run of the “Editor” main operating mode. smarT.NC: Machining operating mode Program run. This smarT.NC operating mode is comparable to Program Run, Single Block and Program Run, Full Sequence of the “Editor” main operating mode. It is divided into the following sub-operating modes: • RUN SINGLE UNITS Machine individual units without a special program context • RUN ALL UNITS Completely machine the NC program • RUN ACTIVE UNIT Machine an NC program unit by unit. Each unit must be started manually.
8.1.3 Operating Times The iTNC can measure up to 16 operating times and store them in a file in the SYS partition: Operating time
Meaning
TNCTIME
Control on
MACHINETIME
Machine on
PROGTIME
Program run
PLCTIME0 to PLCTIME12
Definable times of the PLC
For all operating modes except Programming and Editing and Test Run: 8
Press the MOD key and press the MACHINE TIME soft key.
8
With MP7237.x, specify the times that can be reset with the code number 857282, and the PLC operating times that you wish to display.
8
In MP7238.x, define the dialog messages to be displayed for the individual operating times.
The time is measured in seconds and is updated every minute during the run time. When the control is switched off, no more than one minute is lost. The NC measures the time for Control on, Machine on and Program run. For PLC operating times 1 to 13: 8
Start with Module 9190.
8
Stop with Module 9191.
Except for Control on, all operating times are saved during a hard-disk backup. see “Data Backup” on page 2 – 64.
September 2006
Display and Operation
8 – 19
With the following modules you can evaluate and change the operating times: Module 9190: Starting the operating times Module 9191: Stopping the operating times Module 9192: Reading the operating times Module 9193: Setting the operating times Module 9194: Alarm when operating times are exceeded
MP7237 Format: MP7237.0 Input:
Display and reset the operating times %xxxxxxxxxxxxx Display PLC operating times Bits 0 to 12 represent PLC operating times 1 to 13 0: Do not display 1: Display Reset PLC operating times with the code number 857282 Bits 0 to 12 represent PLC operating times 1 to 13 0: Do not reset 1: Reset Reset NC operating times with the code number 857282 Bit 0 – Nonfunctional Bit 1 – “Machine on” operating time Bit 2 – “Program run” operating time 0: Do not reset 1: Reset
MP7237.1 Input:
MP7237.2 Input:
MP7238.0-12 Dialog messages for PLC operating times 1 to 13 Input: 0 to 999 Dialog no. from the file PLCDIALOG= (OEM.SYS) Module 9190 Starting the operating times You start one or more operating times. Call: PS CM
B/W/D/K Bits 0 to 12 represent PLC operating times 1 to 13 9190
Error recognition: Marker
Value
Meaning
M4203
0
PLC operating time started
1
Incorrect parameter
Module 9191 Stopping the operating times You stop one or more operating times. Call: PS CM
B/W/D/K Bits 0 to 12 represent PLC operating times 1 to 13 9191
Error recognition:
8 – 20
Marker
Value
Meaning
M4203
0
PLC operating time started
1
Incorrect parameter
HEIDENHAIN Technical Manual iTNC 530
Module 9192 Reading the operating times You read the current value of an operating time. The current value is transferred in seconds. If the value is greater than 2 147 483 648 (approx. 69 years), a negative number will be transferred. Call: PS
CM PL
B/W/D/K –3: Control on –2: Machine on –1: Program run 0 to 12: PLC operating times 1 to 13 9192 B/W/D –1: Error
Error recognition: Marker
Value
Meaning
M4203
0
PLC operating time started
1
Incorrect transfer value, or module was not called in a spawn job or submit job
Module 9193 Setting the operating times You overwrite the current value of the operating time. The old value is lost irretrievably. The time for Control on cannot be overwritten. Transfer all values greater than 2 147 483 648 (approx. 69 years), as negative numbers. Call: PS
PS CM
B/W/D/K –2: Machine on –1: Program run 0 to 12: PLC operating times 1 to 13 B/W/D/K 9193
Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
Operating time was overwritten
1
Incorrect transfer value, or module was not called in a spawn job or submit job
Display and Operation
8 – 21
Module 9194 Alarm when operating time exceeded You define a marker that is set when a certain threshold is exceeded. The marker is set every minute after the threshold is passed. The marker can be delayed by max. 59 s the first time it is set. All values greater than 2 147 483 648 (approx. 69 years) must be transferred as negative numbers. If you enter the value zero as the alarm threshold, the function is deactivated. Call only in a submit job or spawn job. Call: PS
PS PS CM
B/W/D/K –3: Control on –2: Machine on –1: Program run 0 to 12: PLC operating times 1 to 13 B/W/D/K B/W/D/K 9194
Error recognition:
System time
Marker
Value
Meaning
M4203
0
Alarm function activated
1
Incorrect transfer value, or module was not called in a spawn job or submit job
Module 9195 System time At the factory, the system time of the iTNC is set to Central European Time or Central European Summer Time in the BIOS. The iTNC internally operates with UNIX system time. The UNIX system time contains the number of seconds accumulated since 0:00 hours on January 1, 1970. The iTNC calculates from the system time (BIOS) to the UNIX system time. In MP7235, enter the time difference between the local time and UNIX system time (Universal Time, Greenwich time) so that the time of the program manager matches the local time. With Module 9195 you can read the current value of the UNIX system time. The value read with Module 9195 is independent of MP7235 and always refers to Universal Time. Call: CM PL
9195 D
MP7235 Input:
8 – 22
Number of seconds since 0:00 hours on January 1, 1970. Time difference to Universal Time (Greenwich Mean Time) –23 to +23 [hours] 0: Universal Time (Greenwich Mean Time) 1: Central European Time (CET) 2: Central European summer time
HEIDENHAIN Technical Manual iTNC 530
Module 9055 Local time With Module 9055 you can convert the value read with Module 9195 into a legible ASCII format. Module 9055 corrects the transferred value by the difference to local time as entered in MP7235. Call: PS PS PS
CM
B/W/D/K Number of seconds since 0:00 hours on January 1, 1970. B/W/D/K B/W/D/K 0: DD.MM.YYYY hh:mm:ss 1: D.MM.YYYY h:mm:ss 2: D.MM.YYYY h:mm 3: D.MM.YY h:mm 4: YYYY-MM-DD- hh:mm:ss 5: YYYY-MM-DD- hh:mm 6: YYYY-MM-DD h:mm 7: YY-MM-DD- h:mm 8: DD.MM.YYYY 9: D.MM.YYYY 10: D.MM.YY 11: YYYY-MM-DD 12: YY-MM-DD 13: hh:mm:ss 14: h:mm:ss 15: h:mm 9055
Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
String was created
1
Incorrect transfer value
Display and Operation
8 – 23
8.1.4 Error Messages Error messages are displayed by the NC or PLC below the operating mode: 8
If the error message blinks, switch the machine off and correct the error. If the error message does not blink, M4177 is set.
You can call PLC error messages with Module 9084 or 9085, or by activating a marker (M4800 to M4999): 8
Define your PLC error messages in the *.PET table.
8
Assign the markers to the error messages.
With Module 9086 you can delete PLC error messages, and with Module 9087 you can interrogate the current status of the error message. Note A *.PET table is absolutely mandatory, since without it the PLC program cannot be compiled or activated. If a *.PET table contains more than 999 error messages, the excessive messages are ignored and the error message PET table: Too many lines appears. 8
In the OEM.SYS file, use the command PLCERRTAB= to enter the name of the *.PET table.
8
You can automatically generate the entry by calling COMPILE.
If more than one PLC error message is activated at once:
Error list
8
Press the CE key to read the error messages in succession. With the special command ERRQUE= you can display the list of active error messages in the large PLC window.
8
Press the ERR key to have a list of all current error messages displayed. These can be selected and cleared in a targeted manner.
The columns of the error list (ERR key) have the following meanings: Number: Error number (–1: no error number defined), assigned by HEIDENHAIN or the machine tool builder Class: Error class. Specifies how the iTNC processes this error: • ERROR: Program run is interrupted by the iTNC (internal stop) • FEED HOLD: The feed-rate entry is cleared • PGM HOLD: Program run is interrupted (control-in-operation symbol blinks) • PGM ABORT: Program run is canceled (internal stop) • EMERG. STOP: An EMERGENCY STOP is triggered • RESET: iTNC performs a reset • WARNING: Warning message, program run is continued • INFO: Informational message, program run is continued Group: Error source. Shows the cause of the error: • GENERAL: Other error • OPERATING: Error during machining • PROGRAMMING: Error during editing • PLC: Error by the PLC Error message: Error text displayed by the iTNC
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HEIDENHAIN Technical Manual iTNC 530
PET table
The PLC error message table (*.PET) consists of the following columns, to which you can assign special attributes: NR Line number in the table. The modules select the PLC error message by assigning the line number. ERROR With the HELP key you can display information on the error messages. (See “Help” on page 8 – 29). There are three ways to specify the error text: • Direct entry of the error text (max. 32 characters) • Line number of the PLC error text file (# ) specified with PLCERROR= in OEM.SYS. • Number of the string memory containing the error text (# ) MARKER The PLC error message can be activated without module call by setting the marker defined here (M4800 to M4999). The marker is also set if the error message was activated through Module 9085. Entry 0: No error marker RESET 0: No NC reset upon activation of the error message. Error display does not blink. 1: NC reset upon activation of the error message. Error display blinks. NC STOP 0: No NC stop upon activation of the error message 1: NC stop upon activation of the error message (M4221 is set). NC CANCEL 0: No NC stop with subsequent INTERNAL STOP upon activation of the error message 1: NC stop with subsequent INTERNAL STOP upon activation of the error message (M4223 is set). F STOP 0: Feed-rate enable is not influenced 1: Feed rate-enable is reset upon activation of the error message (M4220 is set). EMER.STOP 0: No EMERGENCY STOP upon activation of the error message 1: EMERGENCY STOP upon activation of the error message (M4222 is set). CE 0: Error message can be cleared with the CE key 1: Error message cannot be cleared with the CE key
September 2006
Display and Operation
8 – 25
PRIOR A priority of 0 to 2 can be entered for the error message. Priority 0 (error) is the highest priority, then priority 1 (warning) and priority 2 (info). PLC error messages triggering an Emergency Stop receive the highest priority (independent of the priority from the *.PET table). Therefore, these error messages always appear at the first position in the error list. The error message External EMERGENCY STOP has a lower priority, but still a higher priority than the top PLC priority. This means that PLC error messages triggering an Emergency Stop always appear at the first position in the error list. They are followed by External EMERGENY STOP and then by further PLC error messages, depending on their priority. Depending on their priority, M4227 to M4229 are set for active error messages. Different colors can be set for the priorities (see “Color Settings” on page 8 – 71). MType This column is reserved for future applications. Enter “E”.
M4220 M4221 M4222 M4223 M4227 M4228 M4229
Error from PET table with F stop active Error from PET table with NC stop active Error from PET table with EM. STOP active Error from PET table with NC Cancel active PLC error message with priority 0 (error) PLC error message with priority 1 (warning) PLC error message with priority 2 (info)
Set
Reset
NC NC NC
NC NC NC
NC
NC
NC NC
NC NC
NC
NC
Module 9084 Display PLC error messages with additional data With Module 9084 you can display PLC error messages with additional data. You can insert place holders (%s, %d, %f) at any position of the error messages. The place holders are assigned the data from the module at run time. Only those place holders that are defined in the PLC error message will be replaced. %s is replaced by the string or the string content. The first occurrence of %d or %f in the PLC error message is replaced by the content of variable 1, and the second occurrence of %d or %f is replaced by the content of variable 2. %d is an integer, %f is a floating point number with three decimal places. Alternately, you can define the number of decimal places with %.1f to %.6f. If the module is called several times with the same line number of the *.PET table, the error message is entered only once in the queue. A maximum of 32 PLC error messages can be entered in the queue. If necessary, the error marker assigned is set. If the *.PET table or the line number is not found, the error message PLC ERROR appears.
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HEIDENHAIN Technical Manual iTNC 530
Call: PS PS PS PS CM
B/W/D/K 0 to 999: Line number B/W/D/K/S B/W/D/K B/W/D/K 9084
Error recognition: Marker
Value
Meaning
M4203
0
PLC error message with additional data displayed
1
Error code in W1022
1
Line number not available
8
Incorrect operating mode, compatibility error marker set
23
Overflow of PLC error message queue
W1022
Module 9085 Display PLC error messages Up to 32 error messages can be placed in the queue, of which up to eight can be from the string memory. Blinking error message: Is displayed without entry in the queue. Error number –1: Blinking error message EMERGENCY STOP PLC is displayed, even if no *.PET table was defined. Error number not equal to –1 and no *.PET table selected: Blinking error message PLC: NO ERROR TABLE SELECTED Call: PS B/W/D/K
0 to 999: Line number –1: Blinking error message EMERGENCY STOP PLC
CM 9085 Error recognition: Marker
Value
Meaning
M4203
0
Error message displayed or in queue
1
Error code in W1022
1
Line number not available
8
Incorrect operating mode, compatibility error marker set
23
Overflow of PLC error message queue, or too many error messages from string memory
W1022
September 2006
Display and Operation
8 – 27
Module 9086 Delete PLC error message With this module you can erase all set PLC error messages or a specific (nonblinking) error message in the queue. Call: PS B/W/D/K
0 to 999: Line number –1: Erase all PLC error messages
CM 9086 Error recognition: Marker
Value
Meaning
M4203
0
Error message displayed or in queue
1
Error code in W1022
W1022
1
Line number not available
8
Incorrect operating mode, compatibility error marker set
Module 9087 Status of PLC error message Call: PS B/W/D/K 0 to 999: Line number –1: PLC error message, general –2: Number of the active PLC error message –3: Number of error messages in the *.PET table CM 9087 PL B/W/D For code 0 to 999: 0: No error message with the number, or message deleted –1: Line number not found (see W1022) Bit 0 – PLC error message is displayed Bit 1 – PLC error message in queue For code -1: 0: No PLC error message 2: PLC error message in queue For code –2: ≥ 0: Number of the displayed error –1: No error in the *.PET table For code –3: ≥ 0: Number of errors in the *.PET table Error recognition:
8 – 28
Marker
Value
Meaning
M4203
0
Status information was read
1
Error code in W1022
W1022
1
Invalid line number of status code
HEIDENHAIN Technical Manual iTNC 530
8.1.5 Help Help soft key in MOD
With the help file you can display help text, useful information or machine commands: 8
Ensure that a help file of the type *.HLP is defined in the system file OEM.SYS with the MODEHELP = command.
8
Press the MOD key.
8
Press the HELP soft key.
You can edit the help file in the PLC editor: 8
Press the MOD key and enter the code number 807667.
8
Create a *.HELP file.
With machine commands: 8
Define at the beginning of the line a numerical value in the format #xxxx.
If the user moves the cursor to a line with a numerical value, this number is displayed in W270. In the PLC program you can interrogate W270 and execute the command. If the cursor is moved to a line without a valid numerical value, the value –2 is entered in W270. If no HELP file is selected, W270 contains the value –1.
You can create several help files: 8
September 2006
Select the conversational language for help files with MP7230.3. The entry behind MODEHELP = in the OEM.SYS is overwritten with the languagespecific path (PLC:\LANGUAGE\).
Display and Operation
8 – 29
The user selects a file: By pressing the HELP soft key By pressing the PGM MGT soft key If a HELP file is selected in the foreground and background operating mode, the error message PARALLEL OPERATION NOT POSSIBLE appears. HELP files are saved externally with the identifier “J”.
W270
Line number in help file –1: No help file selected
Set
Reset
NC
NC
–2: Not a valid numerical value 0 to 9999: Line number Help window with HELP key
If an NC error message appears: 8
Press the HELP key. You will receive information on the cause and correction of the error.
To make such information available for PLC error messages as well, you must save the texts in files: 8
Create two files: • Texts under the heading “Cause of Error” in REASON.A, for example. • Texts under the heading “Corrective Action” in FIX.A, for example.
8
Define the names of both files in the system file OEM.SYS with keywords: • Cause of error: PLCERRREASON = REASON.A (for example) • Corrective action: PLCERRFIX = FIX.A (for example)
8 – 30
8
Save the files in the corresponding language directories (PLC:\LANGUAGE\).
8
With MP7230.3, select the active language (file). HEIDENHAIN Technical Manual iTNC 530
The files are divided into text blocks. Each text block can contain up to 10 lines, each with 60 characters. It is ended with . On the iTNC you can enter an with the key combination SHIFT + RET. Through the error number (line number) in the PET table, the TNC finds the associated text block in the “error correction” and “error cause” files. Error number zero is the first text block. The error number is also shown in the heading of the help window. With the PLC programming software PLCdesign, you can generate a PET table and text files, and then transfer them to the iTNC. In the PLC you can use markers M4220 to M4223 to interrogate the activity of an error from the PET table.
M4220 M4221 M4222 M4223
September 2006
Error from PET table with F stop active Error from PET table with NC stop active Error from PET table with EM. STOP active Error from PET table with NC cancel active
Display and Operation
Set
Reset
NC NC NC NC
NC NC NC NC
8 – 31
8.1.6 PLC Pop-Up Window The PLC pop-up (i.e. superimposed) window is shown in the following operating modes: Manual Operation Positioning with Manual Data Input Program Run, Single Block Program Run, Full Sequence 8
Activate a pop-up window with Modules 9215 or 9217
If you transfer file names without paths, the iTNC looks for the file in the language-specific directory PLC:\LANGUAGE\: 8
With MP7230.3, select the active language (file).
When the PLC pop-up window is called, other pop-up windows (such as the help window) are moved to the background and become active again after the PLC pop-up window has been closed. The PLC pop-up window can be displaced to the background by another pop-up window. The modules do not return until the pop-up window is closed. They must be called in a spawn job, not in a submit job, because otherwise the subsequent submit jobs will not be run until the pop-up window is closed. A pop-up window called with Module 9215 or 9217 can be ended with Module 9261. Module 9215 Activating a PLC pop-up window The module uses the following events: $01 000 000 Window build-up $00 010 000 Closing the pop-up window The event for window build-up is generated internally and must not be started externally. If the event for closing the pop-up window is transferred, the module closes without waiting for keyboard input. The user can make his selections from a list by using the cursor keys and the ENTER key, or the hot keys. The module then returns the line number of the selected menu item. (Line 1 = number 0). You separate the individual entries with . Call only in a submit job.
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HEIDENHAIN Technical Manual iTNC 530
Call: PS B/W/D/K/S PS B/W/D/K/S
[complete path or only file name] [Line in which the highlight is located] Bit 0/Bit 1 – Character size 00: Automatic 01: Small character 10: Medium character 11: Large character Bit 2 – Frame 0: With frame 1: Without frame Bit 3 – Heading 0: Display heading 1: Do not display heading Bit 4 – Hot keys 0: No hot keys 1: Hot keys (0 to 9 and A to Z) before menu items Bit 5 – Vertical / Horizontal 0: Vertical arrangement 1: Horizontal arrangement (bit 4 = 0)
PS B/W/D/K PS B/W/D/K
CM 9215 PL B/W/D
0 to n: Line number from list –1: No selection made (END, NOENT) 2: For error see W1022
Error recognition:
September 2006
Marker
Value
Meaning
M1022
0
Incorrect mode transferred
3
Not a valid string for file name or heading
6
Window cannot be displayed (internal error, e.g. problems with memory or operating system)
20
Module was not called in a spawn job
28
Another PLC pop-up window is open
36
File with the list could not be found
Display and Operation
8 – 33
Module 9217 Display pop-up window for messages Module 9217 can be used in the Machine operating modes to display a popup window with the text of a file (max. 16 KB) and various soft-key rows. The pressed key or soft key is reported. Starting at a certain number of lines (up to 500 lines possible), a scroll bar is displayed automatically. Use the arrow keys or the PgUp and PgDn keys to scroll through the pop-up window. The keyboard is assigned to the pop-up window. The width of the window is determined by the longest line. A displayed window can be closed via Module 9261 (sending of events) through event $010000. Call: PS PS PS
CM PL
S S B/W/D/K 0: No soft-key row; clear window with CE 1: Soft-key row with OK soft key 2: Soft-key row with YES and NO soft keys 3: Soft-key row with YES, NO and END soft keys 9217 B/W/D –1: Error 0: CE key 1: OK soft key 2: JA soft key 3: NEIN soft key 4: ENDE soft key
Error recognition:
8 – 34
Marker
Value
Meaning
M4203
0
Pop-up window displayed
1
Error code in W1022
W1022
1
Invalid mode
6
No connection to display server
11
Invalid string for title
20
Module was not called in a spawn job or submit job
28
Pop-up window already active
36
.ASCII file with message text does not exist
HEIDENHAIN Technical Manual iTNC 530
8.1.7 Machine Datum The machine is built with a fixed machine datum. All referenced displays and positioning blocks refer to this machine datum. In the Manual and Electronic Handwheel operating modes you can define a workpiece datum with the “datum setting” function. NC programming blocks are entered with respect to this defined datum. Other datums: If the user programs M91 in an NC program, the NC programming block refers to the machine datum. 8
In MP960.x, enter the distance between the machine datum and the scale reference point.
All NC programming blocks are referenced to the machine datum. 8
With MP7295, disable the “datum setting” function for specific axes.
NC program block values are defined with respect to fixed positions of the machine if the user programs M92 in the NC program. 8
In MP950.x, enter the distance between the machine datum and the machine-referenced position. The values for MP950.x can be assumed with the “actual position capture” key. Note M91 and M92 are active only in the block in which they are programmed.
September 2006
Display and Operation
8 – 35
RM
RM
RM
Workpiece datum
Machine datum
Scale datum
Datum setting
RM = Reference mark
The datum can be set either only by the “Datum setting” soft key or by the soft key plus the axis keys: 8
With MP7296, define how the datum should be set.
To change the datum in the OEM cycles: 8
Press the MOD key.
8
Enter the code number 555 343.
8
Enter: FN25: PRESET
//.
Axis for which the datum is to be set
Coordinate in the active coordinate system to which the datum is to be set, or the number of the Q parameter that contains this coordinate
Desired value of the datum
Note The currently effective datum, but not the corresponding value in the preset table, is overwritten with FN25: PRESET.
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HEIDENHAIN Technical Manual iTNC 530
If two axes are being operated paraxially, for example with two alternating spindle motors, you can specify that the datum being set in one axis with “Datum setting” should also apply to the other axis. 8
Enter in MP7492.x the number of the axis that is to also use the same datum. The index of MP7492.x defines the axis whose datum is to be applied.
Example: Axes 0 and 1 are parallel axes. When setting the datum for Axis 0, the datum is also to apply to Axis 1. In this case you must set MP7492.0 = 1. MP950.x Input:
Datum for positioning blocks with M92 -99 999.9999 to +99 999.9999 [mm] or [°] Values with respect to the machine datum
MP960.x Input:
Machine datum –1.79769313486E+308 to +1.79769313486E+308 [mm] or [°] Values with respect to the scale reference point
MP7295 Format: Input:
Disable “Datum setting” %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Not disabled 1: Disabled
MP7296 Input:
“Datum setting” through axis keys 0: Datum can be set by axis keys and soft key 1: Datum can be set only by soft key
MP7492.x
Number of axis in which the same datum is to be set during datum setting (with active preset table) 0 to 9 –1: Do not set a datum Datum set in the first axis to Datum set in the fourteenth axis
Input: MP7492.0 MP7492.13
September 2006
Display and Operation
8 – 37
Datum management via preset tables
As of NC software 340 422-01 and 340 480-01, the datums are managed in the preset table TNC:\PRESET.PR: 8
With MP7294, disable the “datum setting” function in the preset table for specific axes.
Each traverse range uses its own preset table. The preset table of the current traverse range can be viewed in the Manual operating mode. FN17: SYSWRITE and FN18: SYSREAD refer to the active preset table. FN17: SYSWRITE ID503 is used for entering a value directly (i.e. without conversion) into the preset table. This way a defined state can be set as a default value in the preset table. FN17: SYSWRITE ID502 and FN18: SYSREAD ID502 are used for entering a value with conversion into the active coordinate system or preset table, or for reading it. These functions can also be used to edit a preset table other than the active one. Note The currently effective datum, but not the corresponding value in the preset table, is overwritten with FN25: PRESET. The PR.LINESLOCKED = entry in OEM.SYS is used to write-protect lines in the preset table, such as for the machine datum. Separate each line number with a comma, and connect line ranges with a dash: PR.LINESLOCKED = 1,4-8,22. Write-protection can only be assigned to the first 255 lines. Write-protected lines are shown in a different color. The active line and line 0 are always writeprotected. The manually set datum, which was set by the user with the axis keys, is automatically written into line 0 of the preset table. The entry PRESETTABLE = OFF in OEM.SYS deactivates the preset table after a control reset. The stored datums are no longer valid, and a new datum must be set in each axis (possible in all traverse ranges). The active status of preset table is reported to the PLC with M4589=1. Note The meanings of the bits in MP7500 depend on whether the preset table is active.
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HEIDENHAIN Technical Manual iTNC 530
When the control is started up, new cycle data is generated (with or without support from the preset table). It is also possible to take the presence or absence of the preset table into account in OEM cycles. See page 9 – 26.
September 2006
Set
Reset
NC
NC
M4589
Activate datum management via preset table
MP7294 Format: Input:
Disable axis-specific “Datum setting” in the preset table %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Not disabled 1: Disabled
Display and Operation
8 – 39
8.1.8 NC Program Setting “look-ahead”
In order to adapt the feed rate to the workpiece machining process, the iTNC 530 precalculates the geometry. This way changes in directions (corners, curvatures, and changes in curvatures) are detected in time, and the participating NC axes can be braked or accelerated accordingly. You can set the number of NC blocks to be used for precalculation. The greater the number of blocks for advance calculation, the higher the possible feed rate. Shorter machining times can be achieved. This improved effect is especially noticeable with many short traverse blocks in the micron range, which are exported from CAD/CAM files, for example. However, the default setting of 256 blocks usually suffices. MP7400 Input:
Setting look-ahead 0: 256 [blocks] (default) 1: 512 [blocks] 2: 1024 [blocks]
Block number increment for ISO programs
8
Finding the block number
Module 9321 Find the current block number Please use Module 9322 if possible! The current block number is ascertained with Module 9321.
In MP7220 enter the block number increment for ISO programs.
MP7220 Input:
Call: PS CM PL
Block number increment for ISO programs 0 to 250
B/W/D/K 9321 B/W/D
Error recognition:
8 – 40
Marker
Value
Meaning
M4203
0
Block number has been found
1
Error
HEIDENHAIN Technical Manual iTNC 530
Module 9322 Information of the current NC program With Module 9322, you can determine the current block number of the active NC program. If the module is called from the cyclic PLC program, only the block number of the NC main program is determined. If the module is called from a spawn job or submit job, the path of the current NC program is determined in addition to the block number (from the block scan). Call: PS
PS CM PL
B/W/D/K Call from a cyclic PLC program: Without effect. Call from a spawn job or submit job: 0: String and block number refer only to the active NC main program. Block number from block scan. 1: String and block number refer to the active NC program (also subprogram, cycle or macro). Block number from block scan. B/W/D/K Call from a cyclic PLC program: Without effect. 9322 B/W/D
Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
Information of current NC program has been read
1
Error code in W1022
W1022
1
Invalid mode
2
Invalid string number
Display and Operation
8 – 41
NC program selected
With marker M4181 it is possible to interrogate whether an NC program is selected in the Program Run, Full Sequence or Program Run, Single Block mode of operation. The marker is not set if an NC program is selected from a pallet table.
M4181 Display of the NC program
PLC
Set MP7281 = 0 to show all blocks completely.
8
Set MP7281 = 1 to show only the current block completely. All other blocks are shown as only one line.
8
Set MP7281 = 2 to show all blocks as one line. A block is shown completely only when it is created or edited. Depiction of the NC program 0: All blocks completely 1: Current block completely, others line by line 2: All blocks line by line; complete block when editing
Individual blocks of an NC program can be deleted without a confirmation question. Set MP7246 bit 1=1 to have to the confirmation question Really delete NC block? and the soft keys YES, NO and END appear when the DEL key is pressed.
MP7246 Input:
Machine parameter with multiple function Bit 1 – Clear with DEL key 0: Does not need confirmation 1: Must confirm via soft key
The control checks an NC program while editing it. The duration depends on the number of lines to be checked. Errors that occur after the defined line number are not recognized during editing. 8
Enter in MP7229.0 the line number to which the NC program is to be checked (LBL and TOOL DEF blocks).
8
Enter in MP7229.1 the line number to which FK blocks are permitted. If FK blocks do not appear until after this line number, they are not checked.
MP7229 MP7229.0 Input: MP7229.1 Input:
8 – 42
NC
8
8
Checking the NC program during editing
Reset
The NC program can be displayed in various layouts:
MP7281 Input:
Deleting lines from an NC program
NC program selected
Set
Depiction of the NC program Line number for program testing 100 to 9999 Program length to which FK blocks are allowed 100 to 9999
HEIDENHAIN Technical Manual iTNC 530
Status information about the end of an NC program
Module 9320 Status of the NC program end Module 9320 can ascertain status information on the termination of the NC program. Call: CM PL
9320 B/W/D
PL
B/W/D
PL
B/W/D
PL PL
B/W/D B/W/D
M4185 Canceling an NC program
Internal stop performed
Set
Reset
NC
PLC
An NC macro can be called automatically if an NC program was canceled by an error message or an external or internal stop. You can use it to exchange information between the NC and the PLC. This NC macro may not contain any positioning commands, or the error message Program data erroneous will appear. 8
September 2006
1: Emergency stop 2: Positioning error 3: Programmed stop (stop, M00) 4: Normal end 5: Geometry error 6: END PGM, M02 7: Internal stop 8: RS-232-C transmission error Bit 0: Reserved Bit 1: Control loop Bit 2: Probing Bit 3: Limit switch Bit 4: Error from FN14 Bit 5: Tool management Bit 6: Programming error Bit 7: Program selection/preparation Bit 8: Pallet administration Bit 9: Emergency stop –1: No help number In the “tool management” error class: Tool number
In NCMACRO.SYS enter the name (and path) of the NC macro after the code word RUNCANCEL =.
Display and Operation
8 – 43
Automated NC program start
NC programs and pallet tables can be started by the iTNC automatically at a date and time set by the user. To use the Autostart function: 8
Use MP7683 bit 5 to show the AUTOSTART soft key.
8
With MP7683 bit 7, specify whether the NC program should be started by the NC or the PLC after the expiration of the programmed time. If you want the program to be started by the PLC, use one of the two following markers: • M4182 indicates whether the AUTOSTART function was activated. • M4183 indicates whether the time programmed by the user has expired.
8 – 44
8
Switch to Program Run, Full Sequence mode and use PGM MGT to activate the NC program or pallet table to be processed. No current error messages are allowed.
8
Press the AUTOSTART soft key.
8
Enter the date and time at which the machine is to be switched on.
8
Set M4586 for the PLC to enable the Autostart function. If the PLC does not enable the function, the error message Autostart not enabled appears.
8
Activate the Autostart function with the AUTOSTART ON soft key. Active blinks in the window. Set
Reset
NC NC PLC
NC NC NC/PLC
M4182 M4183 M4586
AUTOSTART active Time from AUTOSTART expired Enable AUTOSTART
MP7683 Input:
Executing pallet tables Bit 5 – AUTOSTART soft key 0: Do not display soft key 1: Display soft key Bit7 – AUTOSTART function by PLC 0: AUTOSTART function performed by the NC 1: AUTOSTART function is performed by the PLC. The NC does not trigger an NC start.
HEIDENHAIN Technical Manual iTNC 530
Sorted machining of block elements
The ISO editor of the iTNC 530 does not automatically sort block elements. This means that the block elements TOOL CALL and S in ISO blocks are machined at the location they were programmed at. If in NC programs (such as from a postprocessor) these block elements are not programmed until the end of the block, then they won’t be machined until the end of the block. 8
Set MP7682 bit 7 for the block elements TOOL CALL and S in ISO blocks to automatically be machined at the beginning of the block. The display of the block elements does not change.
MP7682 Input:
Behavior during program interruption
Machine parameter with multiple function Bit 7 – Block elements TOOL CALL and S in ISO blocks 0: Machine as programmed 1: Machine at beginning of block (block display does not change)
If an NC program is interrupted and subsequently an axis is moved, then before continuing the NC program the RESTORE POSITION function must be executed in order to return the axes to the positions current after the last processed NC block. This function is automatically activated by the TNC. 8
Set MP7680 bit 13 so that the RESTORE POSITION function will not be activated automatically.
If the spindle is stopped by an NC stop and an internal stop, and does not restart automatically with the NC start, you can force a mid-program startup: 8
Set MP7680 bit 14 to permit an NC start only with mid-program startup or a GOTO command
A message window can be displayed automatically if NC start is pressed after program cancellation.
September 2006
Display and Operation
8 – 45
The machine operator must then decide whether an NC start is permissible: 8
Set MP7680 bit 15 to permit an NC start only after acknowledging a message, renewed program selection or a GOTO command.
MP7680 Input:
Retract the tool automatically from the contour
Through the LIFTOFF column of the tool table, a function can be activated that retracts the tool from the workpiece by 0.1 mm in the tool-axis direction after an NC stop. 8
Enable the LIFTOFF function via M4620.
8
The function is also activated in the NC program with M148. M149 deactivates M148.
M4620
8 – 46
Machine parameter with multiple function Bit 13 – Behavior during program interruption with axis movement 0: Automatic activation of RESTORE POSITION 1: Do not automatically activate RESTORE POSITION Bit 14 – Behavior of NC start after NC stop and internal stop 0: NC start permitted 1: NC start only permitted after mid-program startup or GOTO Bit 15 – NC start if program is aborted 0: NC start permitted 1: NC start not permitted (message window)
Activate LIFTOFF function
Set
Reset
PLC
NC/PLC
HEIDENHAIN Technical Manual iTNC 530
8.1.9 Cycles HEIDENHAIN contouring controls feature standard fixed cycles (e.g. peck drilling, tapping, pocket milling), which can be called in the NC program. In addition to the standard HEIDENHAIN cycles, you can program so-called Original Equipment Manufacturer (OEM) cycles (see the Cycle Design User’s Manual). You can influence the function of many HEIDENHAIN standard cycles through machine parameters. For more information on the tapping cycle and the oriented spindle stop cycle, see page 6 – 273. See page 8 – 204 for more information on the touch probe cycles. Pocket milling
Cycles 4 and 5: 8
In MP7430, enter the overlap factor for roughing out a rectangular or circular pocket.
Infeed
Infeed = (MP7430) · cutter radius MP7430 Input: Cycles for milling pockets with combined contours
Overlap factor for pocket milling 0.001 to 1.414
Cycles 6, 14, 15, 16: 8
With MP7420, specify: • Bit 0: The milling direction for channel milling • Bit 1: The sequence for rough-out and channel milling • Bit 2: The conditions under which programmed pockets should be merged (see graphics below) • Bit 3: Whether each process (channel milling or pocket clearing) is to be completed for all pecking depths before performing the other process, or whether both are to be performed alternately for each pecking depth • Bit 4: Position after completion of the cycle
September 2006
Display and Operation
8 – 47
The programmed contours of two pockets intersect slightly.
MP7420 bit 2 = 0: The control clears the pocket separately because the paths of the tool center do not intersect. Material will remain at inside corners.
MP7420 bit 2 = 1: The control clears the pockets together because the programmed contours intersect. No material will remain at inside corners.
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HEIDENHAIN Technical Manual iTNC 530
MP7420 Format: Input:
Scaling factor
Cycle 11: 8
In MP4710, enter the effective range of the scaling factor.
MP7410 Input:
Cylindrical surface
Scaling cycle in two or three axes 0: Scaling cycle is effective in all three principal axes 1: Scaling cycle is effective only in the working plane
With Cycles 27 and 28 you can machine a contour on a cylindrical surface (see the User’s Manual). 8
Define the rotation center of the rotary axis with MP75xx. Also see page 6 – 55.
8
Define the behavior of Cycle 28 with MP7680 bit 12.
MP7680 Input:
September 2006
Cycles for milling pockets with combined contours %xxxxx Bit 0 – Milling direction for channel milling 0: Counterclockwise for pockets, clockwise for islands 1: Clockwise for pockets, counterclockwise for islands Bit 1 – Sequence for rough-out and channel milling (only for SL 1): 0: First channel milling, then pocket rough-out 1: First pocket rough-out, then channel milling Bit 2 – Merging of listed contours 0: Contours are merged only if the tool-center paths intersect 1: Contours are merged if the programmed contours intersect Bit 3 – Rough-out and channel milling to pocket depth or for every infeed 0: Each process uninterrupted to pocket depth 1: Both processes for each pecking depth before proceeding to the next depth Bit 4 – Position after completion of the cycle 0: Tool moves to the same position as before the cycle was called 1: Tool moves only in the tool axis to the clearance height
Machine parameter with multiple function Bit 12 – Behavior of Cycle 28 0: Standard behavior 1: The slot wall is approached and departed tangentially; at the beginning and end of the slot a rounding arc with a diameter equal to the slot is cut
Display and Operation
8 – 49
8.1.10 End of Program Run If the program end is reached in the operating modes Program Run, Single Block and Program Run, Full Sequence, the NC sets M4170. This marker is reset with the next program start. You can evaluate the information “Program end” during program run with pallet changers, for example. Set M4170
END PGM, M02 or M30 was executed NC
Reset NC
8.1.11 Returning to the Contour With HEIDENHAIN contouring controls you can resume an interrupted NC program at a specified block number by scanning the previous blocks (see “Mid-Program Startup” in the User’s Manual). Note M functions M142 and M143 are not permitted with mid-program startup. If you perform a mid-program startup in a program containing M128, then the TNC performs any compensation movements necessary. The compensation movements are superimposed over the approach movement. If the program is aborted due to a power outage, or if the iTNC 530 with Windows 2000 was shut down in Windows, and power-fail monitoring is active, then after the Power interrupted message is acknowledged, the NC program is aborted message appears. The point of interruption is remembered, and is offered for the mid-program startup. Note You must enable these functions through machine parameters. You must prepare the PLC program accordingly. Markers inform the PLC about individual conditions during mid-program startup (block scan). Depending on these markers you can enable certain functions such as the axis-direction buttons for MANUAL TRAVERSE. M4156 is set if the MANUAL TRAVERSE soft key is pressed. M4157 is set if the RESTORE POSITION soft key is pressed (“Return to Contour”). M4158 is set if the RESTORE POS. AT soft key is pressed. M4158 is reset if the RESTORE POSITION or INTERNAL STOPsoft key is pressed.
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HEIDENHAIN Technical Manual iTNC 530
During the block scan, PLC positioning commands are included in calculation only if they are also executed. The TOOL CALL block normally initiates PLC positioning commands for tool change. If you want these positioning commands to be calculated in the block scan: 8
In MP951.x, enter the absolute position with respect to the machine datum. The values for MP951.x can be assumed with the “actual position capture” key.
8
Activate the calculation for the specific axes with MP7450.
With flexible tool-pocket coding in the central tool file (see “Tool Changer” on page 8 – 235), the change of pocket number in the tool file must be prevented during block scan if the TOOL CALL blocks are not collected: 8
Set M4542.
The block scan can be interrupted by a programmed STOP or with M06, whereby you can have the programmed dwell time included: 8
With MP7680, bits 3 and 4, select the parameters for the block scan.
8
With MP7451.x, define the feed rate for returning to the contour.
If an NC program block is interrupted in Program Run, Single Block mode or by a STOP block and the positions of NC axes are changed, the NC program can be restarted at the changed positions. If in OEM.SYS STRICTREPOS = YES, the function for restoring the position is activated (see “OEM.SYS” on page 9 – 23). Note The tool data cannot be correctly offset in the block scan if you change the data in the PLC or update it with M4538. MP951.x Input: MP7450
September 2006
Simulated tool-change position for TOOL CALL during midprogram startup (block scan) –99 999.9999 to +99 999.9999 [mm] or [°]
Format: Input:
Offsetting the tool change position from MP951.x in block scan %xxxxxxxxxxxxxx Bits 0 to 13 represent axes 1 to 14 0: Do not offset 1: Offset
MP7451.x Input:
Feed rate for returning to the contour 10 to 300 000 [mm/min]
Display and Operation
8 – 51
MP7680 Input:
M4156 M4157 M4158 M4538 M4542
M/S/T/Q transfer during block scan
8 – 52
Machine parameter with multiple function Bit 1 – Returning to the contour 0: Not active 1: Active Bit 2 – Block scan 0: Not active 1: Active Bit 3 – Interruption of block scan for STOP or M06 0: Interruption 1: No interruption Bit 4 – Inclusion of programmed dwell time during the block scan 0: Include the dwell time 1: Do not include the dwell time Bit 5 – Start of calculation for block scan 0: Start from block with cursor 1: Start from beginning of program
MANUAL TRAVERSE soft key pressed Return to the contour (MOVE TO POSITION) is active Block scan active Geometry of the tool from W264 Do not update pocket number in the pocket table
Set
Reset
NC
NC
NC
NC
NC PLC PLC
NC NC PLC
The PLC can collect the M/S/T/Q signals during the block scan in order to output them after the block scan ends: 8
Set MP7681 to a value other than zero so that after a block scan the message RESTORE MACHINE STATUS is displayed and output with the M/S/T/ Q signals:
8
With the external start key, activate the output of the displayed signals. As long as these signals are being output, M4161 remains set.
8
In the system files PLC:\MGROUPS.SYS and PLC:\MSPLIT.SYS, define the M functions to be output after a block scan.
HEIDENHAIN Technical Manual iTNC 530
The M/S/T/Q signals are output in this sequence (exception: see the instruction ORDER=PRIO): 1st: M function that was defined with MFIRST 2nd: M/S/T/Q signals in the programmed sequence 3rd: M function that was defined with MLAST After RESTORE MACHINE STATUS, the control checks whether the status set by the PLC agrees with the status calculated by the NC. No error message appears if this is the case; if for example another traverse range is selected in a tool change macro but the original traverse range is set at the end of the macro. If the NC status and PLC status do not match, the error message PLC function not permitted appears. In order to run the above named functions on machines that have executed them through the PLC, and so led to the PLC function not permitted error message, there are functions that can be executed from an NC macro: FN17: SYSWRITE ID20 NR13, to switch between two spindles FN31: RANGE SELECT, to switch the traverse range (RANGE), the axis assignment (ASSIGNED), and the axis display (DISPLAYED) FN32: PLC PRESET, to execute a PLC datum shift The functions are only visible with code number 555343. Function
NC
PLC
Spindle switchover
FN17: SYSWRITE ID20 NR13
Module 9175
Range of traverse, axis assignment, axis display
FN31: RANGE SELECT
Module 9152
Datum shift
FN32: PLC PRESET
Module 9230
Canceling block scan If block scan is cancelled, it is for possible for the NC status and PLC status not to match. A macro can be entered in NC MACRO.SYS after the codeword STARTUPCANCEL = for this. This macro is always called when block scan is not ended with RESTORE MACHINE STATUS. This macro brings the NC into concordance with the actual condition of the machine (traverse range, spindle, etc.).
September 2006
Display and Operation
8 – 53
MP7681 Format: Input:
M4161
Instructions in MGROUPS.SYS
M/S/T/Q transfer to the PLC during block scan %xxxx Bit 0: 0: Transfer M functions to the PLC during block scan. 1: Collect M functions and transfer to PLC after block scan Bit 1: 0: Transfer T code to the PLC during block scan 1: Transfer last T code to the PLC after block scan Bit 2: 0: Transfer S or G code to the PLC during block scan 1: Transfer last S or G code to PLC after block scan Bit 3: 0: Transfer FN19 outputs to the PLC during block scan 1: Transfer last FN19 outputs to the PLC after block scan
M/S/T/Q transfer after block scan
Set
Reset
NC
NC
GROUP = You divide M functions into groups. After a block scan, the last programmed M function in a group is transferred to the PLC. Example: GROUP = M3,M4,M5 SPECIAL = You define all M functions that are not defined in a group, and that should be sent to the PLC after a block scan. Example: SPECIAL = M19,M22,M25 MFIRST = MLAST= You define two M functions to be sent to the PLC at the start and end of an output sequence after a block scan. This enables the PLC program to recognize that a sequence of M/S/T/Q strobes that was collected during the block scan is being transferred. You can omit these instructions if you do not need this information. Example: MFIRST = M80, MLAST = M81 REMAIN = OUTPUT All M functions that are not defined in MGROUPS.SYS are transferred during the block scan to the PLC. If you do not enter this instruction such M functions are ignored. Note You must use REMAIN = OUTPUT in the following functions: Datum shift with M4132 PLC positioning except with TOOL CALL Traverse range switchover with M4135, if MP7490 = 1 Switchover spindle 1/spindle 2 with Module 9175
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HEIDENHAIN Technical Manual iTNC 530
If the PLC shifts the datum or switches the traverse range, the error message PLC function not permitted appears. ORDER = PRIO The M functions are transferred in the sequence in which they are entered in the MGROUPS.SYS file. If you do not enter this instruction, the M functions are transferred after a block scan in the sequence in which they were programmed. HEIDENHAIN recommends that you avoid using this instruction. TOOLGROUP =, TDEFGROUP =, SPINDLEGROUP =, FN19GROUP = In conjunction with ORDER = PRIO, the output sequence of the S/T/Q strobes after a block scan is specified in the MGROUPS.SYS file. HEIDENHAIN recommends that you avoid using these instructions. NCMACRO = TC, M With an M function or during a TOOL CALL, you can also call an NC program instead of a T strobe (see “Tool Changer” on page 8 – 235 and “Calling an NC macro with an M function” on page 8 – 64). The instruction NCMACRO = prevents NC macros for tool change (TC) or NC macros for M functions (M) from running during the block scan. Rather they are started at the end of the block scan. Instructions in MSPLIT.SYS
M functions that are effective in several groups are divided in the MSPLIT.SYS file into function components. Example: M13=M3, M8
September 2006
Display and Operation
8 – 55
✎
8 – 56
HEIDENHAIN Technical Manual iTNC 530
8.1.12 M Functions In the iTNC you can program miscellaneous functions, also known as M functions. The code of an M function is transferred to the PLC before or after execution of the NC block. M89 to M299 are reserved for the NC, and several M functions between M00 and M88 have fixed meanings for the NC. The other M functions are freely available. Effective at
A = beginning of block E = end of block
M function
Meaning
Effectiveness
M00
Program STOP/Spindle STOP/Coolant OFF
E
M01
Optional program STOP
E
M02
Program STOP/Spindle STOP/Coolant OFF/possible clearing of the status displaya/go to block 1
E
M03
Spindle ON clockwise
A
M04
Spindle ON counterclockwise
A
M05
Spindle STOP
E
M06
Tool change/Program STOPb/Spindle STOP
E
M08
Coolant ON
A
M09
Coolant OFF
E
M07
A
M10
E
M11
A
M12
E
M13
Spindle ON clockwise/Coolant ON
A
M14
Spindle ON counterclockwise/Coolant ON
A
M15 - M18
A
M19
E
M20 - M29 M30
A Same as M02
E
M31
A
M32 - M35
E
M36 - M51
A
M52 - M54
E
M55 - M59
A
M60
E
M61
A
M62
A
M63 - M70
E
M71 - M88
A
September 2006
Display and Operation
8 – 57
M function
Meaning
Effectiveness
M89
Vacant miscellaneous function or cycle call, modally effectiveb
E
M90
Operation with following error: Constant feed rate in corners
A
M91
Within the positioning block: Coordinates are referenced to machine A datum
M92
Within the positioning block: Coordinates are referenced to a position A defined by the machine tool builder, such as tool change position
M93
A
M94
Reduce the rotary axis display to a value below 360°
A
M95 - M96
Approach behavior at the starting point of the contour
E
M 97
Machine small contour steps
E
M 98
Machine open contours completely
E
M 99
Blockwise cycle call
E
M100
E
M101
Automatic tool change with replacement tool if maximum tool life has expired
A
M102
Reset M101
E
M103
Reduce feed rate during plunging to factor F
A
M104
Reactivate most recently defined datum
A
M105
Machine with second kV factor
A
M106
Machine with first kV factor
A
M107
Suppress error message for replacement tools
A
M108
Reset M107
E
M109
Constant contouring speed on the tool cutting edge (increasing and decreasing the feed rate)
A
M110
Constant contouring speed on the tool cutting edge (only decreasing A the feed rate)
M111
Reset M109/M110
E
M112
Insert rounding radius between nontangential straight lines
A
M113
Reset M112
E
M114
Automatic correction of machine geometry when working with tilting A axes
M115
Reset M114
E
M116
Feed rate for rotary axes in mm/min
A
M117
Reset M116
E
M118
Superimpose handwheel positioning during program run
A
M119 M120
LOOK AHEAD: Calculate the radius-compensated tool path ahead of A time
M121 - M123
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HEIDENHAIN Technical Manual iTNC 530
M function
Meaning
Effectiveness
M124
Ignore points for calculating the rounding radius with M112
A
Permit zero crossover on 360° rotary axes
A
M127
Reset M126
E
M128
Retain position of tool tip when positioning tilting axes (TCPM)
A
M129
Reset M128
E
M130
Within the positioning block: Points are referenced to the non-tilted coordinate system
A
M125 M126
M131
A
M132
A
M133
E
M134
Exact stop at nontangential contour transitions when positioning with A rotary axes
M135
Reset M134
M136
Feed rate F in mm per spindle revolution
A
M137
Reset M136
E
M138
Selection of tilted axes
A
E
M139
A
M140
Retraction from the contour in the positive tool axis direction
A
M141
Suppress touch probe monitoring
A
M142
Delete modal program information
A
M143
Delete basic rotation
A
M144
Compensating the machine’s kinematics configuration for ACTUAL/ A NOMINAL positions at end of block
M145
Reset M144
E
M146
Save the current geometry information in a temporary file (tooloriented pallet machining)
A
Retract the tool automatically from the contour at NC stop
A
M147 M148
A
M149
Reset M148
E
M150
Utilize the traverse range completely in NC blocks
A
M200
Laser cutting: Direct output of the programmed voltage
A
M201
Laser cutting: Voltage output varies with the distance
A
M202
Laser cutting: Voltage output varies with the velocity
A
M203
Laser cutting: Voltage output varies with the time (ramp)
A
M204
Laser cutting: Voltage output varies with the time (pulse)
A
M151 - M199
M205 - M299
A
M300 - M999 a. depends on MP7300 b. depends on MP7440
September 2006
Display and Operation
8 – 59
8
In the PLC, evaluate the M functions that have no fixed meaning for the NC.
When an M function is transferred to the PLC, the code of the M function is saved in W260 and the strobe marker M4072 is set: 8
Set M4092 in order to report the execution of the M function. The next NC block is run. M4072 is reset by the NC.
The M functions M00 to M99 can also be transferred decoded to the markers M1900 to M1999: 8
Activate this function with M4571. Note M functions greater than 99 are not transferred to the PLC. They have a fixed meaning for the NC to activate certain functions.
W260 M4072 M4092 M4571 M1900 M1999
8 – 60
Code for M functions Strobe signal for M functions Acknowledgment of M functions Activation of decoded M-code transfer in M1900 to M1999 Decoded M function if M4571 is set
Set
Reset
NC NC PLC PLC
NC NC PLC PLC
NC
NC
HEIDENHAIN Technical Manual iTNC 530
Status of M functions
8
With Module 9060 you can ascertain the status of M functions M100 to M199.
8
With Module 9061 the status of the non-modal M functions M94, M142, M143 and M146 can be ascertained.
Module 9060 M function status Module 9060 can determine whether an M function between M100 and M199 is active. Call: PS CM PL
B/W/D/K 9060 B/W/D 0: M function inactive 1: M function active
Error recognition: Marker
Value
Meaning
M4203
0
Status was found
1
Error code in W1022
W1022
1
Invalid number of M function
Module 9061 Status of non-modal M functions With module 9061 the status of the non-modal M functions M94, M142, M143 and M146 can be interrogated. The status of the interrogated M function is then set until the module is called again, even if the NC program has finished. Call: PS CM PL
B/W/D/K 9061 B/W/D 0: M function was not active 1: M function was active
Error recognition: Marker
Value
Meaning
M4203
0
Status was found
1
Error code in W1022
1
Invalid number of M function
W1022 Program stop with M functions
In the Program Run, Single Block and Program Run, Full Sequence operating modes the next NC block is not run until you have reported execution of the M function: 8
Set M4092 in order to report the execution of the M function.
For special machines you can deselect the program stop (see “Special Functions for Laser Cutting Machines” on page 8 – 230). 8
September 2006
Select the program stop with MP7440, bit 2.
Display and Operation
8 – 61
Program stop with M06
Modal cycle call M89
According to ISO 6983, the M function M06 means “tool change.” 8
With MP7440 bit 0, select program stop when M06 is transferred to the PLC. After the program stop and the tool change, the NC program must be restarted through an NC start or by the PLC.
You can use the M function M89 to program a modal cycle call. The possibilities for calling a cycle are: NC block CYCL CALL Miscellaneous function M99. M99 is non-modal, i.e. it must be specially programmed each time is it to be executed. Miscellaneous function M89. M89 depends on MP7440 bit 1. M89 is effective modally as a cycle call, i.e. in each subsequent positioning block, the fixed cycle last programmed is called. M89 is cancelled by M99 or by a CYCL CALL block. If M89 is not defined as a modal cycle call, it is transferred to the PLC as a normal M function at the beginning of the block.
Reduced feed rate of tool axis with M103
With M103 F.. you can reduce the contouring feed rate for motion in the negative direction of the tool axis. The tool axis share of the feed rate is limited to a value that the iTNC has calculated from the most recently programmed feed rate. Fmax = Fprog · F% Fmax = maximum feed rate in the negative direction of the tool axis Fprog = most recently programmed feed rate F% = programmed factor behind M103 as a percentage M103 F.. is canceled by re-entering M103 without a factor. 8
8 – 62
Enable the M103 F.. function with MP7440 bit 2.
HEIDENHAIN Technical Manual iTNC 530
Automatic activation of M134
In the standard setting, a transition element is inserted for positioning with rotary axes at non-tangential transitions (depending on the acceleration, jerk and tolerance). With M134, an exact stop is performed at these transitions: 8
Enable the automatic activation of M134 with MP7440 bit 6.
MP7440 Format: Input:
Error messages during cycle call
Output of M functions %xxxxxxx Bit 0 – Program stop with M06: 0: Program stop with M06 1: No program stop with M06 Bit 1 – Modal cycle call M89: 0: Normal code transfer of M89 at beginning of block 1: Modal cycle call M89 at end of block Bit 2 – Program stop with M functions: 0: Program stop until acknowledgment of the M function 1: No program stop. Acknowledgment is not waited for. Bit 3 – Switching of kv factors with M105/M106: 0: Function is not in effect 1: Function is effective Bit 4 – Reduced feed rate in the tool axis with M103 0: Function is not in effect 1: Function is effective Bit 5 – Reserved Bit 6 – Automatic activation of M134 0: M134 must be activated in the NC program 1: M134 is automatically activated when an NC program is selected
Before execution of a fixed cycle, the spindle must be started with M3 or M4. If this is not the case, the error message Spindle ? appears. If you are using a high speed cutting (HSC) spindle that is started by its own M function (not M3 or M4): 8
Suppress the error message Spindle ? with MP7441 bit 0.
If a positive depth is programmed in machining cycles, the error message Enter depth as negative appears: 8
Suppress the error message Enter depth as negative with MP7441 bit 2.
MP7441 Format: Input:
September 2006
Error message during cycle call %xxx Bit 0 – 0: Error message Spindle ? is not suppressed 1: Error message Spindle ? is suppressed Bit 1 – Reserved, enter 0 Bit 2 – 0: Error message Enter depth as negative is suppressed 1: Error message Enter depth as negative is not suppressed
Display and Operation
8 – 63
Auxiliary cycles
Cycles 18 (thread cutting) and 33 (thread on taper) are so-called auxiliary cycles. You cannot use them alone, but you can use them for your OEM cycles (see the User’s Manual). 8
Set MP7245 = 1 to enable the auxiliary cycle.
MP7245 Input:
Calling an NC macro with an M function
Disabling auxiliary cycles 0: Auxiliary cycles disabled 1: Auxiliary cycles permitted
The M functions M0 to M88 and M300 to M999 can call an NC macro in all operating modes. First the table PLC:\MFUNCT\MFUNCT.TAB must exist. Line number 0 represents M0, line number 1 represents M01, etc. The NC macros must be entered in the directory PLC:\MFUNCT\ with the name of their M function (e.g. M301.H). M functions that call an NC macro are not sent to the PLC. If an M function defined in MFUNCT.TAB is programmed in a macro, the M function is reported to the PLC. To synchronize the current machine status and the look-ahead calculation with an NC macro call, see “NCMACRO.SYS” on page 9 – 30. For behavior during a block scan, see “Instructions in MGROUPS.SYS” on page 8 – 54. With FN17: SYSWRITE ID420 NR0 IDX0 = 0, all coordinate transformations (e.g. cycles 7, 8, 10, 11, 19) performed in the NC macro become globally effective. Without this block, they remain locally effective (only in the NC macro). Explanation of the columns in the table MFUNCT.TAB: Column name
Description
Input
NR
Number of the M function
–
MACRO
Is the macro present?
EFFECTIV
YES: “Y”, “y” or “1”
Is the M function effective at the beginning or end of block (only M0 to NO: M88 and M300 to M999)? “N”, “n” or “0” Only for M functions that do not call NC macros: Should the NC wait for acknowledgement from the PLC (only for M0 to M88 and M300 to M999)? If there is no entry in this column, MP7440 bit 2 is valid.
WAIT
MANLOCK
Is the M function locked in the manual operating modes?
NONESTED
May the macro not be called by another macro?
Note A maximum of six NC programs can be nested (subprograms, cycles, macros).
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HEIDENHAIN Technical Manual iTNC 530
8.1.13 Powering Up and Shutting Down the Control Powering up the control
While the control is starting, a customer-specific company logo can be displayed instead of the HEIDENHAIN logo. If a service pack is installed, then a different logo may appear instead of the message window. Requirements of the logo: The logo must be a bitmap file (*.BMP) with a color resolution of 16 or 24 bits. It is displayed in 16 bits. Maximum picture size • BF 120: 640 x 480 • BF 150: 1024 x 768 Note If the picture is larger than the window, it will be cropped symmetrically. If the picture is smaller than the window, it will be displayed centered. The logo must be designed to remain recognizable even with a reduced window: While the control is powering up, the complete logo is displayed. If power is interrupted, only a reduced window remains available: • BF 120: 636 x 424 • BF 150: 1020 x 681
September 2006
8
Standard logo: Enter the keyword LOGO = in OEM.SYS, followed by the complete path of the logo, e.g. LOGO = PLC:\LOGO\OEM-LOGO.BMP
8
Logo with service pack installed: Enter the keyword LOGOSP = in OEM.SYS, followed by the complete path of the logo, e.g. LOGOSP = PLC:\LOGO\SPLOGO.BMP
8
On the TNC, create a new directory, for example PLC:\LOGO.
8
Transfer the logo to this directory
Display and Operation
8 – 65
Shutting down the control
The control must be shut down before it can be switched off. This is done either with the soft key in Manual mode or by the PLC with Module 9279 or 9189. If the control is shut down (either with a PLC module or with the soft key), M4179 is set, the ready signal of the drives is removed, and the hard disk is set to sleep mode. If a PLC output is to be set after shutting down the control, this function must be activated with MP4040 = 1 or 2. Shutting down via Module 9279 must be done with Mode 2. After the control has been shut down and after the time from MP4041 has expired, the PLC output specified in MP4042 is set. Note On the iTNC 530 with Windows 2000, no PLC output can be set after shutdown (MP4040 to MP4042).
8 – 66
Set
Reset
NC
NC
M4179
Control is being shut down
MP4040 Input:
Set PLC output after shutdown 0: Do not set a PLC output 1: Only after shutdown via Module 9279 2: After shutdown via Module 9279 or soft key
MP4041 Input:
Time after shutdown until setting of the PLC output from MP4042 0 to 1000 [s]
MP4042 Input:
PLC output to be set after shutdown 0 to 31
HEIDENHAIN Technical Manual iTNC 530
Module 9279 Shut down control (configurable) With Module 9279 the control can be Shut down Shut down and restarted (reset) Shut down, and then a PLC output specified in MP4040, MP4041 and MP4042 is set. In each case the PLC is not executable after shutting down, and no message appears on the screen that the control is being shut down. Call: PS
CM
B/W/D/K 0: Shut down the control 1: Shut down and restart the control 2: Shut down the control depending on MP4040, MP4041 and MP4042 9279
Error recognition: Marker
Value
Meaning
M4203
0
Control reset was carried out
1
Error code in W1022
W1022
2
Invalid mode
20
Module was not called in a spawn job or submit job
Module 9189 Shut down the control Module 9189 shuts down the control. The PLC is not executable after shut down. The message windows, which appear during shutdown via soft key, do not appear. Call: CM
9189
Error recognition: Marker
Value
Meaning
M4203
0
Control was shut down
1
Error code in W1022
W1022
September 2006
Module was not called in a spawn job or submit job
Display and Operation
8 – 67
Message for power interruption
After the control powers up, the Power interrupted message appears. 8
Press the CE key to acknowledge this message and compile the PLC program.
With MP7212 you can suppress this message, e.g. for unattended operation. MP7212 Input:
Power interrupted message 0: Acknowledge the Power interrupted message with CE key 1: Power Interrupted message does not appear
8.1.14 Arc End-Point Tolerance The iTNC uses the entered NC data to calculate the deviation of the arc radius between the beginning and end of the arc: 8
Enter a tolerance value in MP7431. If the entered tolerance is exceeded, the error message CIRCLE END POS. INCORRECT appears.
MP7431 Input:
Arc end-point tolerance 0.0001 to 0.016 [mm]
8.1.15 Radius Compensation A path to be traversed can be increased or decreased by the tool radius by entering “R+” or “R–.” The input dialog is not initiated with the “L” key but directly with the orange axis-direction key. For reasons of compatibility, this function has been retained for point-to-point and straight cut controls. Example:
X + 20 G07
R+ X + 20 G49
Conversational programming ISO programming
Paraxially compensated positioning blocks (R+/R–) and radius-compensated positioning blocks (RR/RL) must not be entered in succession. To avoid erroneous entries: 8
Enter MP7246 = 1 to disable the input of paraxial positioning blocks.
MP7246 Input:
8 – 68
Machine parameter with multiple function Bit 0 – Paraxial positioning blocks 0: Permitted 1: Locked
HEIDENHAIN Technical Manual iTNC 530
8.1.16 User Parameters You can provide the machine tool operator with easy access to up to 16 machine parameters known as user parameters. He can then call them through the MOD function by simply pressing the USER PARAMETER soft key. 8
In MP7330.x, enter the numbers of the machine parameters that you wish to make available.
Example: If MP7230.1 should be the first available user parameter: 8
Enter the input value 7230.01 in MP7330.0.
If the user selects a user parameter, a message appears on the screen. You can specify this message: 8
In the system file OEM.SYS, enter the name of the PLC dialog message file with the command PLCDIALOG=.
8
In MP7340.x enter the line number of the PLC dialog message to be displayed.
MP7330.0-15 Specification of user parameters 1 to 16 Input: 0 to 9999.00 (no. of the user parameter) MP7340.0-15 Dialog messages for user parameters 1 to 16 Input: 0 to 4095 (line number of the PLC dialog message file)
September 2006
Display and Operation
8 – 69
8.1.17 Code Numbers You can enter certain code numbers in the MOD function. With these code numbers you can activate certain functions. The following code numbers have a fixed meaning: Code number
Function
95148
Select machine parameter file
807667
Select the PLC mode
857282
Reset the operating times
75368
Automatic offset adjustment
123
Call machine parameters that are accessible to the user.
531210
Delete M0 to M999 and B0 to B127
688379
Oscilloscope
555343
FN17: Overwrite system data FN25: Overwrite datum
75368
Offset adjustment
NET123
Ethernet settings
LOGBOOK
Read out the log
FAILTEST
Simulate an internal EMERGENCY STOP
SIK
Option menu
KINEMATIC
Selection window for the machine kinematics
The code of the entered code number is entered in double word D276. You can evaluate this code and define your own functions for code numbers, or disable fixed code numbers. Set D276
8 – 70
Code of the code number last entered NC via MOD
Reset NC
HEIDENHAIN Technical Manual iTNC 530
8.1.18 Programming Station Mode You can switch the control into a programming-station mode with MP7210. This way the control can be used as a simple programming station. No drives are enabled. In this setting NC programs cannot be executed. You can only create and test NC programs. You can select whether the PLC should be active. In addition, you can activate the emergency-stop loop if the PLC is active. The emergency-stop loop must already be connected correctly (X41/34 and X42/4) in order to switch the programming station on correctly. If a programming-station mode is active (MP7210 > 0), this is shown in the first line of the main menu of the PLC Programming operating mode via “MP7210 = x.” MP7210 Input:
Programming station 0: Controlling and programming 1: Programming station with PLC active 2: Programming station with PLC inactive 3: Programming station with PLC and emergency stop active (X41/34 and X42/4)
8.1.19 Color Settings The colors of the display unit can be defined by machine parameters. The following color settings cannot be changed: HEIDENHAIN logo after machine switch-on (standard color) Error message for invalid machine parameters (red) Blinking error message (red) Plan view in the graphic display (blue) Cursor (inverse) You define the desired color by mixing the basic colors red, green and blue. Every basic color has 256 difference stages of intensity. The input values for color settings are byte-oriented. HEIDENHAIN recommends hexadecimal input. Color
Red
Green
Blue
Adjustment
Rough
Fine
Rough
Fine
Rough
Fine
HEX ranges
0 to F
0 to F
0 to F
0 to F
0 to F
0 to F
Input for yellow: $0....
3
9
3
9
0
0
The colors can also be poorly adjusted (e.g. red error message on red background). HEIDENHAIN therefore supplies the controls with a standard color setting, which is suggested by the control during creation of the MP list. To configure the screen saver: 8
September 2006
Enter in MP7392 the time in minutes after which the screen saver should activate itself. Enter 0 to disable the screen saver.
Display and Operation
8 – 71
8 – 72
MP7350
Window frames
MP7351 MP7351.0 MP7351.1 MP7351.2
Error messages Priority 0 (error) Priority 1 (warning) Priority 2 (information)
MP7352 MP7352.0 MP7352.1 MP7352.2
“Machine” operating mode display Background Text for operating mode Dialog
MP7353 MP7353.0 MP7353.1 MP7353.2
“Programming” operating mode display Background Text for operating mode Dialog
MP7354 MP7354.0 MP7354.1 MP7354.2 MP7354.3
“Machine” program text display Background General program text Active block Background, not current window, comments, and unused machine parameters in the machine parameter file
MP7355 MP7355.0 MP7355.1 MP7355.2 MP7355.3
“Programming” program text display Background General program text Active block Background, not current window, comments, and unused machine parameters in the machine parameter file
HEIDENHAIN Technical Manual iTNC 530
MP7356 MP7356.0 MP7356.1 MP7356.2
Status window and PLC window Background Axis positions in the status display Status display other than axis positions
MP7357 MP7357.0 MP7357.1 MP7357.2 MP7357.3
“Machine” soft-key display Background Text color Inactive soft-key row Active soft-key row
MP7358 MP7358.0 MP7358.1 MP7358.2 MP7358.3
“Programming” soft-key display Background Text color Inactive soft-key row Active soft-key row
MP7360 MP7360.0 MP7360.1 MP7360.2 MP7360.3 MP7360.4 MP7360.5 MP7360.6
Graphics: 3-D view Background Top surface Front face Text display in the graphics window Lateral face Lowest point of blank form Highest point of blank form (below surface)
MP7361 MP7361.0 MP7361.1 MP7361.2 MP7361.3 MP7361.4
Graphics: Projection in three planes Background Top view Front and side view Axis cross and text in the graphic display Cursor
MP7362
MP7362.3
Additional text display in the graphic window and pocket calculator Background of graphic window and pocket calculator Background of status display and keys of the pocket calculator Status symbols and symbols of the pocket calculator (c in ”cos”) Status values and texts of the pocket calculator (os in “cos”)
MP7363 MP7363.0 MP7363.1 MP7363.2 MP7363.3 MP7363.4 MP7363.5
Programming graphics Background Resolved contour Subprograms and frame for zooming Alternative solutions Unresolved contour Rapid traverse movements
MP7362.0 MP7362.1 MP7362.2
September 2006
Display and Operation
8 – 73
MP7364 MP7364.0-6 MP7364.7 MP7364.8 MP7364.9
Color of the help illustrations for cycles Colors 1 to 7 of the graphic program used Line color (color 8 of the graphic program) Color for highlighted graphic elements if defined in the help illustration Background
MP7365 MP7365.0 MP7365.1 MP7365.2 MP7365.3 MP7365.4-9
Oscilloscope Background Grid Cursor and text Selected channel Channel 1 to 6
MP7366 Pop-up window (HELP key, pop-up menus etc. ) MP7366.0 Background MP7366.1 Text or foreground MP7366.2 Active line MP7366.3 Title bar MP7366.4 Scroll-bar field MP7366.5 Scroll bar MP7366.6-14 Reserved MP7367 Large PLC window MP7367.0 Background MP7367.1-7 Colors 1 to 7 (Color 8: MP7350) MP7367.8-14 Colors 9 to 15 MP7368 MP7368.0 MP7368.1 MP7368.2 MP7368.3
Pocket calculator Background Background of displays and keys Key texts (“os” in “cos”) Key symbols
MP7369 MP7369.0 MP7369.1 MP7369.2 MP7369.3 MP7369.4 MP7369.5 MP7369.6
Directory tree in PGM MGT Text background Text Text background of the active folder Line color of the tree structure Folders Drives Text background of the heading in the browser window
MP7370 Small PLC window MP7370.0 Background MP7370.1-15 Colors 1 to 15 MP7392 Input:
8 – 74
Screen saver 1 to 99 [min] 0: No screen saver
HEIDENHAIN Technical Manual iTNC 530
The standard color setting is shown in the following list:
Machine parameter
September 2006
Standard setting
Machine parameter
Standard setting
MP7350
$0808080
MP7361.0
$0AAAAAA
MP7351.0
$0FF2020
MP7361.1
$00000E8
MP7351.1
$000FF00
MP7361.2
$00000E8
MP7351.2
$00000FF
MP7361.3
$0FF0000
MP7352.0
$0ECECEC
MP7361.4
$0FF00FF
MP7352.1
$0000000
MP7362.0
$0ECECEC
MP7352.2
$00000FF
MP7362.1
$0FFFFFF
MP7353.0
$0C0C0C0
MP7362.2
$00000FF
MP7353.1
$0000000
MP7362.3
$00000FF
MP7353.2
$00000FF
MP7363.0
$0ECECEC
MP7354.0
$0FFFFFF
MP7363.1
$00000FF
MP7354.1
$0000000
MP7363.2
$0FF00FF
MP7354.2
$00000FF
MP7363.3
$000EC00
MP7354.3
$0A0A0A0
MP7363.4
$0FF0000
MP7355.0
$0FFFFFF
MP7364.0
$0DBD3DB
MP7355.1
$0000000
MP7364.1
$0FF0000
MP7355.2
$00000FF
MP7364.2
$0202020
MP7355.3
$0A0A0A0
MP7364.3
$0000000
MP7356.0
$0ECECEC
MP7364.4
$00000FF
MP7356.1
$00000FF
MP7364.5-6
$00000FF
MP7356.2
$00000FF
MP7364.7
$0AA0000
MP7357.0
$0C0C0C0
MP7364.8
$000EEEE
MP7357.1
$0000000
MP7364.9
$0DBD3DB
MP7357.2
$0000000
MP7365.0
$0FFFFFF
MP7357.3
$00000FF
MP7365.1
$0808080
MP7358.0
$0C0C0C0
MP7365.2
$00000FF
MP7358.1
$0000000
MP7365.3
$0FF0000
MP7358.2
$0000000
MP7365.4
$0C08030
MP7358.3
$00000FF
MP7365.5
$000FF00
MP7360.0
$0AAAAAA
MP7365.6
$0FF00FF
MP7360.1
$08888F0
MP7365.7
$00000FF
MP7360.2
$00011AA
MP7365.8
$0FFCF00
MP7360.3
$0FFFFFF
MP7365.9
$000CFFF
MP7360.4
$00000FF
MP7360.5
$0550000
MP7360.6
$0FFFFFF
Display and Operation
8 – 75
Machine parameter
8 – 76
Standard setting
Machine parameter
Standard setting
MP7366.0
$0ECECEC
MP7368.0
$0ACACAC
MP7366.1
$0000000
MP7368.1
$0FFFFFF
MP7366.2
$00000FF
MP7368.2
$00000FF
MP7366.3
$0FF0000
MP7368.3
$0FF0040
MP7366.4
$0FFFFFF
MP7369.0
$0ECECEC
MP7366.5
$0FF0000
MP7369.1
$0000000
MP7366.6
$0000000
MP7369.2
$00000FF
MP7366.7
$0202020
MP7369.3
$0000000
MP7366.8
$0404040
MP7369.4
$0FF6000
MP7366.9
$0606060
MP7369.5
$0FF0040
MP7366.10
$0808080
MP7369.6
$0FF0000
MP7366.11
$0A0A0A0
MP7370.0
$0C0C0C0
MP7366.12
$0C0C0C0
MP7370.1
$0000000
MP7366.13
$0E0E0E0
MP7370.2
$0D0D0D0
MP7366.14
$0FFFFFF
MP7370.3
$0A0A0A0
MP7367.0
$0ECECEC
MP7370.4
$0808080
MP7367.1
$0000000
MP7370.5
$0404040
MP7367.2
$0D0D0D0
MP7370.6
$0202020
MP7367.3
$0A0A0A0
MP7370.7
$000FF9C
MP7367.4
$0808080
MP7370.8
$0FFFF7C
MP7367.5
$0404040
MP7370.9
$0FF0000
MP7367.6
$0202020
MP7370.10
$000FF00
MP7367.7
$000FF9C
MP7370.11
$0001C5C
MP7367.8
$0FFFF7C
MP7370.12
$000FFFF
MP7367.9
$0FF0000
MP7370.13
$00000FF
MP7367.10
$000FF00
MP7370.14
$0FF00FF
MP7367.11
$0001C5C
MP7370.15
$0FFFFFF
MP7367.12
$000FFFF
MP7367.13
$00000FF
MP7367.14
$0FF00FF
HEIDENHAIN Technical Manual iTNC 530
8.1.20 Graphic Display In the graphics window you can view the following graphics: Test graphics Parallel graphics Programming graphics Help illustration For the test graphics and parallel graphics you can choose one of three display modes: Projection in three planes Plan view 3-D view Projection in three planes
The display in three planes can be shown in 1st-angle projection as preferred in Germany or in the American-style 3rd-angle projection: 8
Select the type of projection with MP7310, bit 0.
German preferrred
U.S. preferred
Example :
Rotation of the coordinate system
You can rotate the coordinate system for graphic display by +90° if, for example, the Y axis is defined as tool axis. 8
Select the angle of rotation with MP7310, bit 1.
Z
X
Z No rotation
September 2006
Display and Operation
X 90° rotation
8 – 77
Graphic display for datum shift
In an NC program you can program several BLK forms in succession. After datum shift with Cycle 7, the shift can be interpreted to apply also to subsequent blank forms: 8
Position of the cursor
In MP7310 bit 2 define the BLK form shift.
In the display in three planes you can display the position of the cursor: 8
Switch this function on with MP7310 bit 3.
MP7310 Format: Input:
Graphic display mode %xxxxxxxx Bit 0 – Projection in three planes: 0: German-preferred projection 1: US-preferred projection Bit 1 – Rotating the coordinate system in the working plane by 90° 0: No rotation 1: Rotation by +90° Bit 2 – BLK form after datum shift: 0: Shifted 1: Not shifted Bit 3 – Display of the cursor position: 0: Not displayed 1: Displayed Bit 4 – Reserved Bit 5 – Reserved Bit 6 – Reserved Bit 7 – Reserved
8.1.21 Special Characters To enter special characters, use the following key combinations:
8 – 78
Key combination
Special characters
SHIFT + "
’
SHIFT + &
@
SHIFT + (
[
SHIFT + )
]
SHIFT + –
_
SHIFT + /
\
SHIFT + !
|
SHIFT + ^
~
SHIFT + #
ESC
SHIFT + RET
SHIFT + SPACE
Switch between uppercase and lowercase
HEIDENHAIN Technical Manual iTNC 530
8.1.22 iTNC Character Set Small characters No.
Character
No.
Character
No.
Character
No.
Character
01 - 1D
54
T
8B
Ï
CB
Ë
1E
55
U
8C
Î
CC
Ì
1F
56
V
8D
Ì
CD
Í
20
57
W
8E
Ä
CE
Î
21
!
58
X
8F
Å
CF
Ï
22
“
59
Y
90
É
D0
23
#
5A
Z
91
D1
Ñ
24
$
5B
[
92
Æ
D2
Ò
25
%
5C
\
93
ô
D3
Ó
26
&
5D
]
94
ö
D4
Ô
27
’
5E
^
95
ò
D5
Õ
28
(
5F
_
96
Û
D6
Ö
29
)
60
’
97
ù
D7
Œ
2A
*
61
a
98
Ÿ
D8
Ø
2B
+
62
b
99
Ö
D9
Ù
2C
,
63
c
9A
Ü
DA
Ú
2D
-
64
d
9B - 9F
DB
Û
2E
.
65
e
A0
Á
DC
Ü
2F
/
66
f
A1
¡
DD
Ÿ
30
0
67
g
A2
Ó
DE
31
1
68
h
A3
Ú
DF
ß
32
2
69
i
A4
ñ
E0
à
33
3
6A
j
A5
Ñ
E1
á
34
4
6B
k
A6
O
E2
â
35
5
6C
l
A7
A
E3
ã
36
6
6D
m
A8 - AD
E4
ä
37
7
6E
n
AE
E5
å
>
E6
æ
39
9
70
p
B0
°
E7
ç
3A
:
71
q
B1
E8
è
3B
;
72
r
B2
E9
é
3C
<
73
s
B3
EA
ê
September 2006
Display and Operation
8 – 79
No.
Character
No.
Character
No.
3D
=
74
t
B4
3E
>
75
u
B5
3F
?
76
v
40
@
77
41
A
42
No.
Character
EB
ë
EC
ì
B6
ED
í
w
B7
EE
î
78
x
B8
EF
ï
B
79
y
B9
F0
43
C
7A
z
BA
F1
ñ
44
D
7B
(
BB
F2
ò
45
E
7C
|
BC
F3
ó
46
F
7D
)
BD
F4
ô
47
G
7E
~
BE
F5
õ
48
H
7F
BF
¿
F6
ö
49
I
80
C0
À
F7
œ
4A
J
81
C1
Á
F8
ø
4B
K
82
C2
Â
F9
ù
4C
L
83
C3
Ã
FA
ú
4D
M
84
Ä
C4
Ä
FB
û
4E
N
85
À
C5
Å
FC
ü
4F
O
86
Å
C6
Æ
FD
ÿ
50
P
87
Ç
C7
Ç
FE
FF
ü
Character
µ
51
Q
88
Ê
C8
È
52
R
89
Ë
C9
É
53
S
8A
È
CA
Ê
8 – 80
HEIDENHAIN Technical Manual iTNC 530
Medium characters No.
No.
Character
No.
Character
No.
Character
01 - 1D
Character
53
S
89
Ë
CA
Ê
1E
54
T
8A
È
CB
Ë
1F
55
U
8B
Ï
CC
Ì
20
56
V
8C
Î
CD
Í
21
!
57
W
8D
Ì
CE
Î
22
“
58
X
8E
Ä
CF
Ï
23
#
59
Y
8F
Å
D0
24
$
5A
Z
90
É
D1
Ñ
25
%
5B
[
91
D2
Ò
26
&
5C
27
’
5D
28
(
5E
29
)
2A
*
2B 2C
92
Æ
D3
Ó
]
93
ô
D4
Ô
^
94
ö
D5
Õ
5F
_
95
ò
D6
Ö
60
’
96
Û
D7
Œ
+
61
a
97
ù
D8
Ø
,
62
b
98
Ÿ
D9
Ù
2D
-
63
c
99
Ö
DA
Ú
2E
.
64
d
9A
Ü
DB
Û
2F
/
65
e
9B - 9F
DC
Ü
30
0
66
f
A0
Á
DD
Ÿ
31
1
67
g
A1
¡
DE
32
2
68
h
A2
Ó
DF
ß
33
3
69
i
A3
Ú
E0
à
34
4
6A
j
A4
ñ
E1
á
35
5
6B
k
A5
Ñ
E2
â
36
6
6C
l
A6
O
E3
ã
37
7
6D
m
A7
A
E4
ä
38
8
6E
n
A8 - AD
E5
å
39
9
6F
o
AE
E6
æ
>
E7
ç
3B
;
71
q
B0
°
E8
è
3C
<
72
r
B1
E9
é
September 2006
Display and Operation
8 – 81
No.
Character
No.
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8 – 82
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HEIDENHAIN Technical Manual iTNC 530
Large characters No.
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September 2006
Display and Operation
8 – 83
8.1.23 Conversational Language The TNC is delivered with all NC-dialog human languages already loaded: 8
In MP7230.0 select the conversational language in which you wish to work.
If the NC dialog messages for the selected language are not on the hard disk, the error message LANGUAGE LOAD ERROR appears. You can continue working in the default language English. You can write your own dialog messages and save them in several languages: 8
Save your dialog messages in permanently defined directories in the PLC partition.
These directories are: PLC:\LANGUAGE\
8
CHINESE\ CZECH\ DANISH\ DUTCH\ ENGLISH\ FINNISH\ FRENCH\ GERMAN\ ITALIAN\ POLISH\ PORTUGUE\ SLOVENIAN\ (Option #41 – Id. Nr. 530 184-01) SPANISH\ SWEDISH\ HUNGARIA\ RUSSIAN\
With MP7230.1–3, switch to the desired language.
You can store PLC dialog message files, PLC error message files, and help files with identical file names in the different languages and in UNICODE (e.g. with PLCtext V3.1): Note If texts from these files are also used in the PLC window, then they cannot be in UNICODE, but must rather use UTF8-coding. 8
8 – 84
In the system file OEM.SYS, enter only the file names with the commands PLCDIALOG = and PLCERROR =. The NC looks for the paths given in MP7230.1 or MP7230.2. The entry behind MODEHELP = is overwritten with the selected path whenever MP7230.3 is changed.
HEIDENHAIN Technical Manual iTNC 530
MP7230 Input:
MP7230.0 MP7230.1 MP7230.2 MP7230.3
Switching the conversational language 0: English 1: German 2: Czech 3: French 4: Italian 5: Spanish 6: Portuguese 7: Swedish 8: Danish 9: Finnish 10: Dutch 11: Polish 12: Hungarian 13: Reserved 14: Russian (Cyrillic characters) 15: Chinese (simplified) 16: Chinese (traditional) Additional dialog language – 17: Slovenian (option #41) 14, 15, 16 and 17 only in connection with BF 150 NC conversational language PLC conversational language (user parameters), soft keys for OEM cycles PLC error messages Help files
Additional conversational languages
HEIDENHAIN offers additional conversational languages, which can only be selected in combination with option #41 (Id. Nr. 530 184-01). If option #41 is activated via Programming and Editing > MOD key and the keyword SIK, then the “additionally” declared dialog language is activated.
Decimal point
8
With MP7280 you specify whether the decimal point will be a comma or a period.
MP7280 Input:
Decimal character 0: Decimal comma 1: Decimal point
8.1.24 Logs PLC log
There is a separate log for the PLC in the PLC log under PLC:\PLCDEBUG.LOG. The following events are entered: Start of the PLC after switch-on. Start and stop of the PLC. Errors from PLC modules (this entry is only made if M4753 = 1). Run-time errors Set M4753
September 2006
Write errors from PLC modules in the PLC PLC log
Display and Operation
Reset PLC
8 – 85
Diagnostics log
If M4754 is set, internal diagnostic information is entered in the log MYDEBUG.LOG. The marker should be set only for debugging purposes. Otherwise, unnecessary access to the hard disk will put a strain on the system.
M4754
Write diagnostic information in MYDEBUG.LOG
Set
Reset
PLC
PLC
OEM log Note Writing to OEM logs must only take place in worthwhile intervals, since under circumstances the processing time could be affected negatively, and the hard disk written to unnecessarily. Module 9277 Writing data into the OEM log With Module 9277 the PLC can write data into a specific OEM log. Up to eight OEM logs can be used at the same time. The module can be called from a cyclic PLC program or from a spawn job or submit job. The string for the log entry may contain two place holders (data1 and data2). Only specified place holders will be replaced. The output format is controlled through the entry %d for integers or the entry %f for floating point numbers with three decimal places. Alternately, you can define the number of decimal places with %.1f to %.6f. Example of a string for the log entry: S“data1: %.2f data2: %d“ If the maximum log size of 1 MB is exceeded, the log is copied to .LOG.OLD and a new log with the same name is created. Once the logs have been called, they remain open until the control is shut down. Call: PS PS PS PS PS
CM
B/W/D/K/S B/W/D/K/S B/W/D/K B/W/D/K B/W/D/K Bit 0 = 0/1: Entry without/with time stamp Bit 1 = 0/1: Entry without/with PLC cycle counter 9277
Error recognition:
8 – 86
Marker
Value
Meaning
M4203
0
Data written into OEM log
1
Error code in W1022
W1022
2
Invalid string number or invalid string
22
Message cannot be transmitted
HEIDENHAIN Technical Manual iTNC 530
Standard log
The standard log serves as a troubleshooting aid. There are 4 MB of memory available for this purpose. All entries in the log are marked with the momentary date and time. You can read out the standard log in two ways: 8
After entering the code word LOGBOOK, enter the path and name of an ASCII file and the time and date from which the log should record, as well as the time and date up to which it should record. After that, an ASCII file is generated and opened with the log entries.
8
The PC software programs PLCdesign, TNCremo, and TNCremoNT offer you several functions for reading out the log.
Entry
Description
RESET
Powering up the control
BERR
Blinking error message
BREG
Register contents with a blinking error message
ERR
Error messages P: PLC error message with the line number in the PLC error text file N: NC error message with number Power fail interrupt: Control was switched off by a POWERFAIL Result of the file system test (in case the control was not properly shut down previously)
INFO
MAIN ERRCLEARED
Acknowledgment of an error message
INFO
MAIN ERR_RECURED
An error message is entered multiple times
KEY
Key strokes
INFO
MAIN SOFTKEY
Path with associated image file of a pressed soft key
Control-inoperationa
ON
Control-in-operation on
OFF
Control-in-operation off
BLINK
Control-in-operation symbol blinking
INFO
MAIN START
Type of control, NC software and valid Feature Content Level (FCL)
INFO
MAIN FILE DEL
Faulty files on the hard disk, to be erased when started up
INFO
MAIN HDD
Hard disk designation
INFO
MAIN DSP
Id. Nr. of the active controller software
INFO
MAIN CYCLES
Test results for fixed cycles and touch probe cycles
INFO
MAIN KEYSOURCE
Source of the keystrokes KEYBOARD PLC PLCNCSTART HANDWHEEL LSV2
INFO
MAIN KINEMATIC
Listing of the definition tables with collision bodies that are monitored for collision with option #40, DCM.
a. STIB = control-in-operation symbol in the screen display
September 2006
Display and Operation
8 – 87
Entry
Description
INFO
MAIN PGM
INFO
MAIN LINE
Line number of the started NC program or NC macro
INFO
MAIN PGMEND
Information about the program end in program run Byte 0/1 00 01 Emergency stop 00 02 Positioning error 00 03 Programmed stop 00 04 Block end in single block mode 00 05 Geometry error 00 06 END PGM, M02 00 07 TNC STOP button 00 08 Data transmission error (V.11/V.24) Byte 2/3 xx xx Internal error class Byte 4...7 xx xx xx xx Internal error code Byte 8 ... 11 xx xx xx xx Line number Byte 12 ... 15 xx xx xx xx Reserved In addition, when a program is stopped by an error message, the following information is entered in the log: NC program, line number, actual position, datum, datum shifts, tool number
MAIN MACEND
Information about the end of an NC macro Byte 0/1 00 01 Emergency stop 00 02 Positioning error 00 03 Programmed stop 00 04 Block end in single block mode 00 05 Geometry error 00 06 END PGM, M02 00 07 TNC STOP button 00 08 Data transmission error (V.11/V.24) Byte 2/3 xx xx Internal error class Byte 4...7 xx xx xx xx Internal error code
INFO
8 – 88
Started NC program or NC macro
HEIDENHAIN Technical Manual iTNC 530
Entry INFO
Description MAIN PATH
PLCEDIT
File for PLC editor
NCEDIT
File for NC editor
RUNPGM
Main program for program run
RUNPALET
Pallet table for program run
RUNDATUM
Datum table for program run
RUNTOOL
Tool table for program run
RUNTCH
Pocket table for program run
SIMPGM
Main program for program test
SIMDATUM
Datum table for program test
SIMTOOL
Tool table for program test
RUNBRKPGM Stopping point for block scan
INFO
SIMBRKPGM
Stopping point for program test
RUNPRINT
Path for FN15: PRINT for program run
SIMPRINT
Path for FN15: PRINT for program test
MDIPGM
File for positioning with manual data input
NCFMASK
Mask for file management in the NC area
PLCFMASK
Mask for file management in the PLC area
EASYDIR
Paths for standard file management
TCHPATH
Datum table for manual measurement
SIMTAB
Freely definable table in program test
RUNTAB
Freely definable table in program run
KINTAB
Active kinematics table
MAIN NCEVENT
Entries via FN38: SEND from the Program Run, Full Sequence or Program Run, Single Block operating modes
MAIN NCTEVENT
Entries via FN38: SEND from the Test Run operating modes
INFO WARNING ERROR
PLC
Entries through PLC Modules 9275 and 9276
INFO
SYS
Control was shut down
INFOa
REMO A_LG
Log in with LSV2 protocol
REMO A_LO
Log out with LSV2 protocol
REMO C_LK
LSV2 protocol: Locking and releasing the keyboard; the key codes between locking and releasing are sent via LSV2 protocol
SHUTDOWN
REBOOT-TNC Control was restarted
a. For test purposes, all LSV-2 telegrams can be entered in the log. This function must be enabled with the LSV-2 TELEGRAM OFF/ON soft key.
September 2006
Display and Operation
8 – 89
Example of a standard log entry The following example shows possible entries in the log:
Control-in-operation: ON
20.01.2001 14:01:42
INFO:
20.01.2001 14:01:42
MAIN PGM TNC:\mercedes\Mbprog5a.I
INFO:
MAIN LINE
20.01.2001 14:01:42
0 Control-in-operation: OFF
20.01.2001 14:01:44
INFO:
20.01.2001 14:01:44
MAIN PGMEND
00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 00 02 00 02 00 00 00 33 00 00 00 11
Byte 0 INFO:
Byte 15
MAIN PGMEND
20.01.2001 14:01:44
Stop reason: Positioning error Error
: 51
Error class: “Positioning” NC program : TNC:\mercedes\Mbprog5a.I line 17 INFO:
MAIN PGMEND
20.01.2001 14:01:44
Actual pos.: X = 1.8251 Y = -9.2372 Z = 45.0030 A = 0.0000 B = 359.9999 C = 0.0000 W = 65.9894 Preset
: (Range = 0)
X = -8.6201 Y = 7.5515 Z = -1835.3142 A = 0.0000 B = 0.0000 C = 0.0000 W = -178.8965 Datum shift: X = 0.0000 Y = 0.0000
8 – 90
HEIDENHAIN Technical Manual iTNC 530
Write to the log
The log can be written to by the PLC or from an NC program. Write data from an NC program into the log: 8
Use the FN38: SEND function in the NC program. It is available after you have entered the code number 555343.
Example for programming a block with FN38: SEND: ... FN38: SEND /“Q-Parameter Q1: %f ...
Q2: %f” /+Q1 /+Q2
Entry in the log from the Program Run, Single Block or Program Run, Full Sequence operating mode: INFO: MAIN NCEVENT Q parameter Q1: Q2: Entry in the log from the Test Run operating mode: INFO: MAIN NCTEVENT Q parameter Q1: Q2: Write data for diagnostic purposes from the PLC into the log: 8
With Module 9275 you can write ASCII data into the log.
8
With Module 9276 you can write the contents of the operands into the log. Note Do not use Modules 9275 and 9276 in the PLC program as shipped. Instead, use them only for debugging. Otherwise the processing times could be increased and the hard disk could be written to unnecessarily, so that the log can no longer fulfill its function of recording keystrokes and error messages.
September 2006
Display and Operation
8 – 91
Module 9275 Write ASCII data into the log With Module 9275 you can write ASCII data into the log. For later editing the entry can be given an identifier. Call: PS PS PS
CM
B/W/D/K/S –1: No entry B/W/D/K/S –1: No entry B/W/D/K 0: Information 1: Warning 2: Error 9275
Error recognition:
8 – 92
Marker
Value
Meaning
M4203
0
Entry was written
1
Error code in W1022
W1022
1
Invalid priority
2
Invalid string number or invalid immediate string
12
No string end identifier
20
Module was not called in a spawn job or submit job
HEIDENHAIN Technical Manual iTNC 530
Module 9276 Write operand contents into the log With this module you can write the contents of operands (inputs, outputs, markers, bytes, words, double words, timers, counters) into the log. For later editing the entry can be given an identifier. Call: PS
PS PS PS PS
CM
B/W/D/K 0: M (marker) 1: I (input) 2: O (output) 3: C (counter) 4: T (timer) 5: B (byte) 6: W (word) 7: D (double word) B/W/D/K B/W/D/K B/W/D/K/S –1: No entry B/W/D/K 0: Information 1: Warning 2: Error 9276
Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
Entry was written
1
Error code in W1022
W1022
1
Invalid priority
2
Invalid identifier for operand name
3
Invalid first operand address
4
Sum of first operand address and number of operands invalid
5
Address is not a word/double-word address
12
No string end identifier
20
Module was not called in a spawn job or submit job
36
Entry in the log was shortened to 210 characters
Display and Operation
8 – 93
8.1.25 Diagnostic Functions The iTNC 530 features various diagnostic functions for finding errors. To call the diagnostic functions: 8
While in the Programming and Editing operating mode, press the MOD key.
8
Press the DIAGNOSIS soft key.
The following diagnostic functions are available: Soft key
Soft key
Soft key
Function
Various Profibus settings can be checked after this soft key has been pressed Various drive diagnosis functions can be selected after pressing this soft key. Before selecting the diagnostic function, under Supply unit you must select the power supply unit being used, so that the signals present are not interpreted as errors. The integrated oscilloscope is started (see “Integrated Oscilloscope” on page 6 – 309). Presents a graphically supported, dynamic display of various release, inverter and PLC signals. Use the soft keys for scrolling to switch between controller and control-loop specific signals. See “Meanings of the signals under “DSP”” on page 8 – 96
Presents a display of the analog signals available to the drive controller (n. p. = signal not present). A display with all available information appears. In Overview of all drives you use these soft keys to select a drive. The following soft keys display more detailed information.
If an absolute speed encoder with EnDat interface is connected, a detailed display of the encoder information appears. If an absolute position encoder with EnDat interface is connected, a detailed display of the encoder information appears. The motor data for the selected motor is displayed from the motor table. If a HEIDENHAIN motor with an electronic ID label is connected, a display of the information stored in the ID label appears. If a HEIDENHAIN power module with an electronic ID label is connected, a display of the information stored in the ID label appears.
8 – 94
HEIDENHAIN Technical Manual iTNC 530
Soft key
Soft key
Soft key
Function
A display with the information about the position encoders appears The following soft keys only appear if the Power Interrupted message was not acknowledged, and if the code numbers 688379 or 807667 were entered. The integrated oscilloscope for commissioning the current controller is opened (see “Commissioning Digital Control Loops with TNCopt” on page 6 – 337 or see “Commissioning of Digital Axes” on page 6 – 340). After switching on the drives, you can perform an automated test of the drives. Use the arrow soft keys to select the drive to be tested, and begin the test with the Start soft key. The START TEST soft key does not appear until after the drives are switched on. See “Automated testing of drives” on page 8 – 101
After switching on the drives, you can perform an automated test of the speed encoder. Use the arrow soft keys to select the drive to be tested, and begin the test with the Start soft key. The START TEST soft key does not appear until after the drives are switched on. The DETAILS DIRECTION and DETAILS AMPLITUDE soft keys can be used to display additional information about the test results. See “Automated test of the speed encoder” on page 8 – 102
The file TNC:\herosdiagnose.txt is created after pressing this soft key. HEIDENHAIN uses this file for diagnosis of the operating system.
September 2006
Display and Operation
8 – 95
Meanings of the signals under “DSP” Signal
Controller-specific
Meaning
Colors
External enabling signals Acknowledgment: Control is ready (–NE1)
The NE1 signal (emergency stop input 1, Gray: No information about the signal available MC) is active if a 0-level is present (Low active). For the iTNC 530 the Green: Signal is not active, corresponding input is at connector X42/ enabled I3 (PLC input), and is looped to the MC as Red: Signal is active, not enabled a hardware line.
Drive enable (–NE2)
The NE2 signal (emergency stop input 2, Gray: No information about the signal available CC) is active if a 0-level is present (Low active). For the iTNC 530 the Green: Signal is not active, enabled corresponding input is at connector X42/ I32 (PLC input), and is looped to the CC as Red: Signal is active, not enabled a hardware line.
Powerfail
The PF signal shows the status of the Gray: Information does not exist “effective” powerfail signal for the drive Green: Enabled, PF is inactive controller. The signal is the result of (1-level) gating the PF.PS.ZK (dc-link powerfail) Red: PF is active (0-level): the dcand PF.PS.AC (AC fail) signals. The gating link voltage has decreased below can be set via machine parameter and via a permissible (inverter-specific) level or the phase monitoring PLC. responded; not enabled
MC ready (–WD)
This signal shows that the MC is ready for Gray: Information does not exist control. This signal is a possible reason Green: Enabled: ME is inactive that the power module was switched off (1-level) via SH1. Red: Not enabled: WD1 is active (0-level), the MC’s watchdog is not retriggered. This signal is relayed to the inverter as SH1 (SH1 also has other signal sources).
Powerfail (ZK)
The signal is generated at the inverter, Gray: Information does not exist and is led via the supply bus to the drive Green: Enabled: Powerfail (ZK) is controller. The input at the drive controller inactive (1-level) is displayed. Depending on the wiring, Red: Not enabled: Powerfail (ZK) either this signal or Powerfail (AC) is is active (0-level): the dc-link relayed on the controller PCB to the voltage has decreased below a permissible (inverter-specific) powerfail signal. level
Powerfail (AC)
The signal is generated at the inverter, Gray: Information does not exist and is led via the supply bus to the drive Green: Enabled: Powerfail (ZK) is controller. The input at the drive controller inactive (1-level) is displayed. Depending on the wiring, Red: Not enabled: Powerfail (AC) either this signal or Powerfail (ZK) is is active (0-level), phase relayed on the controller PCB to the monitoring responded, at least one power supply phase failed powerfail signal. Powerfail (AC) does not exist for all supply units (e.g. not for UV 130).
Internal enabling signals
8 – 96
HEIDENHAIN Technical Manual iTNC 530
Signal
Meaning
CC controller ready
If no error is present in the drive controller Gray: No information about the signal available and the CC was started, “ready for control” is reported. Green: Enabled: CC is ready for control Red: Not enabled
Colors
Clearable DSP error
Clearable DSP errors are 2nd class errors Gray: No information about the signal available (such as motor temperature). The CC can only resume control after the error has Green: Enabled: There is no been cleared (by pressing the CE key). (clearable) 2nd class error Red: Not enabled: A 2nd class error is present
Current controller watchdog
This signal is activated by the current Gray: No information about the signal available controller’s watchdog. It affects SH2 on the power supply via the PWM interface. Green: Enabled: Current controller watchdog OK Red: Not enabled: Current controller watchdog is active (0level). No pulse release from the current controller via the PWM interface
Power supply unit signals DC-link voltage >> The signal reports the status of the dc-link Gray: No information about the signal available voltage: Either it is OK or too high. This signal also switches off all power Green: DC-link voltage OK modules (via the device bus). Red: DC-link voltage too high Possible error causes: Missing or faulty braking resistor Excessive braking power Temperature
September 2006
The signal reports the status of the heat Gray: No information about the signal available sink temperature in the inverter: Either it is OK or too high. Green: Temperature OK Red: Temperature too high
Display and Operation
8 – 97
Signal
Meaning
Colors
DC-link current >> The signal reports the status of the dc-link Gray: No information about the signal available current: Either it is OK or too high. Both positive and negative dc-link currents are Green: DC-link current OK evaluated. Red: DC-link current too high Power supply unit ready
The signal reports the ready status of the Gray: No information about the signal available supply unit: Supply unit OK, Main contactor on, or Supply unit not ready. Green: Supply unit OK, Main contactor on Red: Power supply unit not ready
Short circuit to ground
The signal reports the status of the Gray: No information about the signal available leakage current monitoring: Either it is OK or too high or there is a ground loop. Green: Leakage current OK Red: Leakage current too high or ground loop
8 – 98
HEIDENHAIN Technical Manual iTNC 530
Control-loop specific Signal
Meaning
Colors
Temperature of power module
The signal reports the status of the heat sink temperature in the power module: Either it is OK or too high.
Gray: No information about the signal available Green: Temperature of power module OK Red: Temperature of power module too high
Power module switch-off (IGBT)
The signal shows that the IGBT in the power module has been switched off.
Gray: No information about the signal available Green: No power module switch-off (IGBT) Red: Power module switchoff (IGBT)
Power module ready (LT-RDY)
The power module is ready:
Gray: No information about the signal available Green: Power module is ready Red: Power module reports “not ready”
MC enabling marker
The MC can accelerate the switch-off via Gray: No information about the signal available this marker. Green: Enabled Red: Not enabled
X150/X151 drive enabling
The signal shows the enabling status for Gray: No information about the signal available the “X150/X151” switch-off. The signal is formed from the status of the inputs Green: Enabled: There is currently no switch-off via X150/X151 and the setting in MP2040.x. X150/X151 Red: Not enabled: The drive is currently switched off or locked via X150/X151
Power module active (–SH2)
The signal shows the status of the SH2 line to the power module. The CC activates/deactivates this line for switching off the power module.
Gray: No information about the signal available Green: Enabled: The SH2 signal is inactive Red: Not enabled: The SH2 signal is active
Current controller active
The signal shows the status of the current controller. The current controller is either switched on (in control) or switched off.
Gray: No information about the signal available Green: Enabled: Current controller is on (in control) Red: Not enabled: Current controller is off
September 2006
Safety relay is on Main contactor is on SH1 (MC) is “High” No error from the power module
Display and Operation
8 – 99
Signal
Meaning
Colors
Speed controller active The signal shows the status of the speed Gray: No information about the signal available controller. The speed controller is either switched on (in control) or switched off. Green: Enabled: Speed controller is on (in control) Red: Not enabled: Speed controller is off Gray: No information about the signal available Green: Field angle has been determined Motor with rotary encoder without Z1 Yellow: Field angle has track (incl. linear motors) before the been roughly determined first “Drive on” status Non-aligned rotary encoder with EnDat Dark gray: Field angle has not been determined interface (incl. linear motors), if the field angle has not yet been determined
Rotor position captured This signal gives information about determining the field angle: Drive is not oriented:
Drive is roughly oriented: Motor with rotary encoder without Z1 track (incl. linear motors) after the first “Drive on” status Motor with rotary encoder with Z1 track after it has been read Drive is oriented: Motor with rotary encoder with Z1 track after traversing the reference mark Aligned rotary encoder with EnDat interface immediately after switch-on Non-aligned rotary encoder with EnDat interface immediately if the field angle has already been determined Motor with rotary encoder without Z1 track after traversing the reference mark if the field angle has already been determined Brake released
8 – 100
This signal shows the status of the motor Gray: No information about the signal available brake signal on the PWM bus. This signal is led on the power module via a relay to Green: Brake released the motor. Red: Brake active
HEIDENHAIN Technical Manual iTNC 530
Signal
Meaning
I2t monitoring
This signal shows the current and stored Gray: No information about the signal available status of the I2t monitoring. Green: No I2t warning up to now Yellow: There was already (since switch-on) an I2t warning, but there is no current warning Orange: There is a current I2t warning
Axis in position (PLC)
If the axes have reached the positioning window after a movement, the status is shown in W1026.
Position controller closed (PLC)
Position controller closed (W1040 Green: Position control loop closed inverted). By setting W1040 in the PLC, the position control loop is opened by the Yellow: Position control loop opened PLC program.
Axis enabled (PLC)
W1024 shows if the position control loop Green: Axis not enabled is open or closed, and if the axis has been Yellow: Axis enabled enabled.
Axis in motion (PLC)
During axis movement, the NC sets the bits in W1026.
Automated testing of drives
Colors
Green: Axis in position Yellow: Axis not in position
Green: Axis in motion Yellow: Axis at standstill
Begin the test by pressing the START TEST soft key. After the test is completed, the results are displayed as colored symbols and plain-language messages with possible error causes. Information
Meaning
Colors
Phase 1, Phase 2, Status of the phases in the Green: Phase is OK Phase 3 motor and the supply line Red: Phase error
September 2006
Leakage current
Information on a short Green: No short circuit to ground circuit to ground in the motor, the power module Red: Short circuit to or in the supply line ground detected
Power module
Status of the power module
Green: Power module is OK Red: Power module error
Supply unit
Status of the supply unit
Green: Supply unit OK Red: Supply unit error
Connection
Status of the connection control ↔ power module
Green: Connection is OK Red: Connection error
Display and Operation
8 – 101
Automated test of the speed encoder
Begin the test by pressing the START TEST soft key. After the test is completed, the results are displayed as colored symbols with the encoder signals in a diagram. Two green lines in the diagram mark the minimum and maximum height of the speed encoder signals. The red line shows the determined signals. Information
Meaning
Colors
Direction
Results of the test for the direction of rotation.
Green: Direction of counting and rotation are the same (OK) Red: Direction of counting and rotation differ (error)
Amplitude
Result of the test of the speed encoders’ signals
Green: Signal amplitude within the tolerance (OK) Red: Signal amplitude outside the tolerance (error)
The DETAILS DIRECTION and DETAILS AMPLITUDE soft keys can be used to display additional information about the test results in plain language. Electronic ID label
HEIDENHAIN inverter components of type D, as well as HEIDENHAIN synchronous motors with absolute encoders with EnDat interface, are equipped with an electronic ID label. The product name, the ID number and the serial number are saved in this ID label. These devices are automatically detected when the control is started. 8
Load the displayed component to the corresponding machine parameter automatically with the SELECT soft key.
During every further control restart, the control checks whether the connected units with electronic ID label match the entries in MP2100.x or MP2200.x. If necessary, a message window appears and the connected device must be entered into the corresponding machine parameters via soft key. In exceptional cases, the evaluation of the electronic ID label can be deactivated with MP7690. MP7690 Input:
8 – 102
Evaluation of the electronic ID labels %xx Bit 0 – HEIDENHAIN power modules 0: Active 1: Inactive Bit 1 – HEIDENHAIN synchronous motors 0: Active 1: Inactive
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✎
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Display and Operation
8 – 103
8.2 PLC Window 8.2.1 Small PLC Window The small PLC window is shown in the following operating modes: Manual Operation El. Handwheel Positioning with Manual Data Input Program Run, Single Block Program Run, Full Sequence
Small PLC window
Any ASCII text can be shown in two lines, each with 38 characters. In the left half of the line a bar diagram can be shown optionally or additionally. 8
Specify the colors of the small PLC window in MP7370.x (see “Color Settings” on page 8 – 71).
8
Configure the window display in the PLC program with Modules 9080 to 9083: • 9080: Clear small PLC window • 9081: Interrogate status of the small PLC window • 9082: Display a string in the small PLC window • 9083: Display a bar diagram in the small PLC window
Modules 9080, 9082 and 9083 must be called in a submit or spawn job. Modules 9080, 9082 and 9083 are also in effect if the selected screen contains no PLC window (e.g. large graphic display) or the PLC window is in the background. Do not interrupt processing of the module through a CAN command!
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HEIDENHAIN Technical Manual iTNC 530
Module 9080 Clear the small PLC window With this module you can clear the contents of the small PLC window. Call: CM
9080
Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Call was not in a submit or spawn job
Module 9081 Interrogating the status of the small PLC window With this module you can ascertain whether a small PLC window is being displayed. Call: CM PL
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9081 B/W/D
Bit 0=1: A small window is in the selected screen (background or foreground) Bit 1=1: Small PLC window in the foreground
PLC Window
8 – 105
Module 9082 Show a string in the small PLC window The string is designated with a string number or is transferred as an immediate string and ends with the ASCII character . It is shown in the small PLC window in line 0 or 1, with each character in the color given for it. In the event of error, no string is shown. Column 0
37
Line 0 Line 1 References to PLC dialogs or PLC error messages are executed: Entered dialog or error number not found: Is replaced by the ASCII character “@”. Non-displayable character in the text (except string end): Is replaced by the ASCII character “^”. The character size is oriented to the size of the screen window or by the current operating mode, and cannot be influenced. If the specified color number is zero, the text is shown in the same color as the character last shown. If the first character of a line is specified as zero, the color is undefined and can change from one display line to another. Call: PS PS PS PS CM
K/B/W/D 0 or 1 K/B/W/D 0 to 37 K/B/W/D 0 to 15 K/B/W/D/S 9082
Error recognition:
8 – 106
Marker
Value
Meaning
M4203
0
No error
1
Call was not in a submit or spawn job or line less than zero or greater than 1 or column less than 0 or greater than 37 or incorrect string number or no end of the string or the last characters of the string can no longer be displayed in the screen window.
HEIDENHAIN Technical Manual iTNC 530
Module 9083 Show a moving-bar diagram in the small PLC window The moving-bar diagram is shown in the specified line with the specified length and colors. The diagram can be limited to the left half of each line. In this case the ASCII text is limited to max. 19 characters of the right half. Column 0
150
0
19
Line 0 Line 1 The diagram comprises a rectangular frame in the maximum length and height of an ASCII character. A scale graduation is shown at the top after every ten units. The bar starts from the left-hand edge of the grid. The unused part of the grid is filled in with the background color. If you define the maximum length > 150, the length is limited to 150. If the current length is > 150, the length is limited to the maximum length. Color zero uses the background color. The background color of the PLC window can be used for the margin or scale graduation, for example, if they are not to be shown. Call: PS PS PS PS PS CM
K/B/W/D 0 or 1 K/B/W/D 0 to 15 K/B/W/D 0 to 15 K/B/W/D 0 to 150 K/B/W/D 0 to 150 9083
Error recognition:
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Marker
Value
Meaning
M4203
0
No error
1
Call was not in a spawn or submit job or line less than 0 or greater than 1
PLC Window
8 – 107
8.2.2 Large PLC Window Depending on the display mode, the large PLC window can be shown instead of the graphic/status window, or even over the entire screen. The PLC window can be combined with the PLC soft keys. See page 8 – 122. 8
Select the display mode with the screen management key or with Module 9202.
Mode 1
SMALL
Mode 2
17 lines, 39 columns
SMALL
27 lines, 79 columns
0 = y16/x8 MEDIUM
11 lines, 19 columns
LARGE
5 lines, 9 columns
0 = y16/x8 MEDIUM
18 lines, 39 columns
LARGE
9 lines, 19 columns
0 = y24/x8 0 = y48/x8 8
0 = y24/x8 0 = y48/x8
Define the character size with the special command charsize = (see “Special commands:” on page 8 – 113). The specified position refers to the lower left corner of the first character.
The content of the PLC window is defined in a screen mask – an ASCII file containing format instructions and special commands: 8
8 – 108
Enter in Module 9210 the name of the screen mask to activate the PLC window, or use the functions of the soft-key project file for display (see “PLC Soft Keys” on page 8 – 122).
HEIDENHAIN Technical Manual iTNC 530
Format instructions
Format instructions are enclosed in quotation marks (“”). Variables are transferred as parameters. Symbolic operands can also be used. Example: "Position: %+8.3F",D3884/n=4/c Always display the algebraic sign Total number of digits, including decimal point and algebraic sign
3 decimal places
Update cyclically Convert D3884 into a floating-point number and divide by 10x Display as a floating-point
Variable types specified in the format instruction can be written in lowercase or uppercase letters (e.g. %D). The variable types of the format instruction must agree with the specified variables. Note Integer variables in the iTNC have a length of 32 bits. PLC variables can be displayed as a number with decimal places: 8
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With the variable switch /n=x you convert from integer to double.
PLC Window
8 – 109
Variable names: Variable names
Meaning
B
PLC bytes, integer
W
PLC words, integer
D
PLC double words, integer 0/1
M
PLC markers, integer 0/1
I
PLC inputs, integer 0/1
O
PLC outputs, integer 0/1
T
PLC timers, integer 0/1
C
PLC counters, integer 0/1
S
PLC strings, string [128]
S#D
PLC dialogs, string
S#E
PLC error texts, string
TIME[0] to TIME[15]
System time as in Module 9055, char
AXISCHAR[Number]
Code letters for NC axis, char
MP
Machine parameters, notation: MP910.1 Input value: Decimal places: double Hex or binary: integer Text: char
Time HOUR
int
No. of hours from real-time clock
MIN
int
No. of minutes from real-time clock
SEC
int
No. of seconds from real-time clock
DAY
int
Day from real-time clock
MONTH
int
Month as no. from real-time clock
YEAR2
int
Two-digit year no. from real-time clock
YEAR4
int
Four-digit year no. from real-time clock
Settings for the tool touch probe
8 – 110
TT.RAD
double
Calibrated radius of TT
TT.CENTER [3]
double
Calibrated center of TT
TT.PNT1 [3]
double
Calibrated touch point 0 of TT
TT.PNT2 [3]
double
Calibrated touch point 1 of TT
TT.PNT3 [3]
double
Calibrated touch point 2 of TT
TT.PNT4 [3]
double
Calibrated touch point 3 of TT
HEIDENHAIN Technical Manual iTNC 530
Settings for RS-232 RS232.FEBAUD
string
Baud rate FE on RS-232
RS232.EXT1BAUD
string
Baud rate EXT1 on RS-232
RS232.EXT1BAUD
string
Baud rate EXT2 on RS-232
RS232.LSV2BAUD
string
Baud rate LSV2 on RS-232
RS232.MODE
string
RS-232 mode
RS422.FEBAUD
string
Baud rate FE on RS-422
RS422.EXT1BAUD
string
Baud rate EXT1 on RS-422
RS422.EXT2BAUD
string
Baud rate EXT2 on RS-422
RS422.LSV2BAUD
string
Baud rate LSV2 on RS-422
RS422.MODE
string
RS-422 mode
Settings for RS-422
Settings for simulation SIMU.ENAPRESET
string
Preset enable
SIMU.ENALIMIT
string
Limit switch enable
SIMU.LIMITPL [5]
double
Positive limit switch
SIMU.LIMITMI [5]
double
Negative limit switch
SIMU.PRESET [5]
double
Preset values
Settings for the machine
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MACHINE.LIMIT1PL [5]
double
MACHINE.LIMIT1MI [5]
double
Neg. limit switch group 1
MACHINE.LIMIT2PL [5]
double
Pos. limit switch group 2
MACHINE.LIMIT2MI [5]
double
Neg. limit switch group 2
MACHINE.LIMIT3PL [5]
double
Pos. limit switch group 3
MACHINE.LIMIT3MI [5]
double
Neg. limit switch group 3
MACHINE.PRESET1 [5]
double
Preset values 1
MACHINE.PRESET2 [5]
double
Preset values 2
MACHINE.PRESET3 [5]
double
Preset values 3
MACHINE.POSINC [5]
double
MACHINE.DRVOFFSET [5]
double
MACHINE.HANDW_FACTOR [5]
double
PLC Window
Pos. limit switch group 1
Handwheel interp. factor
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Settings for transformation of the machine reference system MATRANS.PRESX1_ABC [3]
double
MATRANS.PRESY1_ABC [3]
double
MATRANS.PRESZ1_ABC [3]
double
MATRANS.PRESAXIS1
string
MATRANS.PRESX2_ABC [3]
double
MATRANS.PRESY2_ABC [3]
double
MATRANS.PRESZ2_ABC [3]
double
MATRANS.PRESAXIS3
string
MATRANS.PRESZ3_ABC [3]
double
MATRANS.TRLPRES1 [6]
double
MATRANS.TRLPRES2 [6]
double
MATRANS.TRLPRES2 [6]
double
MATRANS.TRLPRES3 [6]
double
MATRANS.MANUAL
string
MATRANS.PGRMRUN
string
MATRANS.ANGLE [3]
double
Settings for the display DISPLAY.AXIS1
string
DISPLAY.AXIS2
string
DISPLAY.SCREEN
int
DISPLAY.FORMAT
string for MM/INCH conversion
Settings for the oscilloscope OSC.AXIS1
string
OSC.TIMEBASE
string
OSC.MODE
string
OSC.TRGCHAN
string
OSC.TRGTHRES
double
OSC.SLOPE
string
OSC.PRETRIG
string
OSC.FEED
double
Miscellaneous
8 – 112
MISC.MDI
string
MISC.OUTPRECISION
string
MISC.TEACHINAXIS
int
HEIDENHAIN Technical Manual iTNC 530
Special characters:
\n Newline: Shifts the cursor to the left edge of the window. At the same time, it moves downward by the preset distance defined with LINEDIST. \f Formfeed: Functions like "\n". In addition, a page break is performed if the cursor moves past this special character. Otherwise the window is scrolled. \xYY Special character: YY is the hexadecimal number of the 8-bit ASCII code of the desired character, followed by a space, e.g. “\x23 ” = “#”. Keep in mind that certain characters could also be interpreted as system commands, e.g. “\25 ” = “%” (see “iTNC Character Set” on page 8 – 79).
Switches for variables:
/n=x For B/W/D. The integer can be reformatted to a floating-point number with x decimal places (e.g. for displaying a 0.1-µm-format position in millimeters). /mi For B/W/D. Ensure that the inch conversion is active. The number can be converted to a number in inches. /e For B/W/D/M/S. Define the field length in the format string. The current contents of the variable are displayed and can be changed. /i For B/W/D/M/S. Define the field length in the format string. A value can be entered in the empty field. /c For B/W/D/M/S/TIME. Define the field length in the format string, otherwise the subsequent text may be overwritten if the field length varies due to a change in the numerical value. The field content is updated cyclically.
Special commands:
/**/ You can enter a comment between the asterisks. MMINCH Converts variables that contain an /mi switch (or a position) into inches. Select a default setting under Mode. Usual default setting: “No conversion” POS=xpix, ypix Writes the next text or graphic at the designated position. Default setting: Writing begins at the upper edge, then progresses line by line. ypix = Distance in pixels from the upper edge of the current page xpix = Distance in pixels from the left edge of the window IPOS=xpix, ypix Writes the next text or graphic at a position offset from the present position by the specified number of pixels. xpix = Distance in pixels from the current X position ypix = Distance in pixels from the current Y position CPOS=column, line Writes the next text or graphic at the designated position. The width of a column is calculated from the current character set. The height of a line is preset and can be changed with LINEDIST. line = Line on the current page column = Column from the left edge of the window
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PLC Window
8 – 113
ICPOS=column, line Writes the next text or graphic at a position offset from the present position by the specified number of lines and columns. The width of a column is calculated from the current character set. The height of a line is preset and can be changed with LINEDIST. line = Distance in lines from the old line column = Distance in spaces from the old space LINEDIST=ypix Defines the line spacing. The default setting depends on the character size and is reset with every call of CHARSIZE. COLOUR=[f] or COLOR=[f] Sets the foreground color. Value range for f: 1 to 15 Default setting: Color 11 The colors are defined in MP7367. (See “Color Settings” on page 8 – 71) CURSOR=ON/OFF Switches the inversion (highlighting) on and off. Default setting: OFF CHARSIZE=SMALL/MEDIUM/LARGE/AUTO Defines the character size. Split screen: SMALL Large PLC window: MEDIUM AUTO: Character size depends on the window size. Default setting: AUTO With every call of CHARSIZE, the value of LINEDIST is overwritten by a default setting that depends on the character set. Preset spacing:
8 – 114
Line
Column
SMALL
168 pixels
MEDIUM
2416 pixels
LARGE
4832 pixels
HEIDENHAIN Technical Manual iTNC 530
GRAPHICS= [,] [/c] Links a graphic into the window. The following graphic formats can be displayed: *.HE files (*.DXF files converted by PLCdesign) *.BMP *.BMX With POS, IPOS or ICPOS, enter a position. For *.HE files the lower left corner is set to the current position, whereas for *.BMP and *.BMX files the upper left corner is set. : File name with path or just the file name. In this case the path in MP7230.3 is added (language for help files). If %GraphicsResolution% is entered in the path, then this text is replaced by the current screen resolution (1024x768 or 640x480). (optional): Layer of a BMX file to be displayed. If no entry is made, the basic image (layer 0) is displayed. /c (optional): The graphic is cyclically refreshed. The cycle time is defined via REFRESH =. If it is a BMX file, the layers are displayed cyclically, beginning with 0 or . Visual display unit
Max. resolution of *.BMP, *.BMX
BF 120 (position/program + PLC)
317 x 265 (16- or 24-bit color depth)
BF 120 (only PLC)
636 x 366 (16- or 24-bit color depth)
BF 150 (position/program + PLC)
442 x 431 (16- or 24-bit color depth)
BF 150 (only PLC)
886 x 593 (16- or 24-bit color depth)
Images that are too large are truncated. Example: GRAPHICS = PLC:\Bilder\%GraphicsResolution%\Test.BMX The file Test.BMX is searched for in the paths PLC:\Images\1024x768\ or PLC:\Images\640x480\. TEXTFILE= Links a text file into the PLC window. The text begins at the current position. Every additional line begins at the same X position, but offset downward by LINEDIST. The line break automatically adapts to the available space. Characters such as “Line Feed,” “Carriage Return,” “Horizontal Tab” and “Vertical Tab” are converted to spaces. The backslash “\” is used as a special symbol. It can therefore execute the following functions: “\n”, “\N” Insert manual line feed (end of paragraph) “\f”, “\F” Insert page feed (division into more than one screen page). “\\” Shows the “\”character in the text. Contains a file name with path, or the file name only. In this case the path in MP7230.3 is added (language for help files).
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PLC Window
8 – 115
ERRQUE=n [/c] [/e] [/l] [/n] [/s] Links a table with the messages waiting in the PLC error queue. n: Number of table lines /c: Table is updated cyclically. /e: Paging in tables, message can be acknowledged with CE. /l: Alternative to /n. Error number before the error text. Position in the error queue is displayed. /n: Alternative to /l. /l has priority. Error number before the error text. Line number of the .PET table is displayed. /s: Three-digit status field with the following information: C: CE possible S: Message causes a stop E: Message causes an EMERGENCY STOP F: Resets the feed-rate enabling 0 to 2: Priority REFRESH=n Time interval in [ms] All variables with the /c switch are checked and, if required, redisplayed. Value range: 100 to 100 000 [ms] Default setting: 400 ms KBD This command is needed only if relatively long texts are to be moved with the cursor keys. It assigns the keyboard to the PLC window as long as it is visible on the screen. If the page limits were defined with \f, it is possible to scroll and to page up and down with the arrow keys. If the mask contains elements with the /e or /i switch, the keyboard is automatically assigned to the PLC window. In this case the arrow keys jump from input field to input field. Soft keys, screen switch-over keys, operating mode keys, special function keys (MODE, PGM-MGT, CALC) always remain assigned to the NC. LINE=xpix, ypix Draws a line from the current position to the designated position. Then the designated position is taken over as the actual position. xpix = Distance in pixels from the left edge of the current page ypix = Distance in pixels from the upper edge of the window ILINE=xpix, ypix Draws a line from the current position to a position that is offset by xpix, ypix. xpix, ypix = Line lengths in x, y. Then the current position is corrected by xpix, ypix. LINESTYLE=SOLID/DASH/LDASH Defines the line type for the LINE/ILINE command. SOLID = Solid line DASH = Dashed line (interrupted line) LDASH = Dot-and-dash line Default setting: SOLID The width of the line is one pixel and cannot be changed.
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FILE= Opens a table for access with tableread. You cannot open more than one table at a time. If the FILE command is called more than once, the previously opened table is closed. At the end of the mask the table is automatically closed. tableread (line,column) Reads field contents from the table that has been opened with FILE=. With the /c switch you can show the field contents of a table and update them cyclically. Example: CHARSIZE = SMALL; LINESTYLE = SOLID; FILE = TNC:\P_PLATZ.P; COLOR=1; "%s", tableread(0, "P-NR"); "%s", tableread(2, "P-NR"); Mathematical expressions for screen positions
If for special functions a numerical value is expected, a mathematical expression can be written in integer arithmetic. The operators and priority rules of the programming language C apply. Available operations: +, –, *, /, %, &, |, ^. The mathematical expressions may have the following variables:
September 2006
Variable
Meaning
PAGE
Number of the current page, beginning with zero
XPOS
X position of the cursor pixel
YPOS
Y position of the cursor pixel
LINEDIST
Currently defined line spacing in pixels
ROWDIST
Currently defined character spacing, width of an ASCII character
XSIZE
Width of the screen window in pixels
YSIZE
Height of the screen window in pixels
PLC Window
8 – 117
Input fields
With the switches /e and /i you can assign input fields to the variables: /e: shows the current value that can be overwritten. /i: shows an empty field in which a new value can be entered. In addition, both switches /e and /i can be given an identifier xxx (/e = xxx, /i = xxx), where xxx is a positive whole number. With Module 9211 you can then ascertain whether the cursor is located in this field. With the /s = xxx switch a field is produced in which no input is possible. By entering the identifier xxx it is possible to ascertain with Module 9211 whether the cursor is located in this field. If the switches /e, /i or /s are used, the cursor keys function as jump commands from input field to input field. If necessary the current page is scrolled. Text between the input fields may no longer be displayable. Note Do not edit any text before the first input field or after the last. The C command “printf” requires a format that defines the length of the numerical field: 8
Save this format in the mask file. Otherwise the length of the input field depends on the coincidental content of the associated variable.
For the input function this format instruction is converted internally into a form suitable for the C command “scanf”: printf: %[flags]
[digits1]
scanf:
%[digits1]
[.[digits2]]
[1]
conversion_char
[size] conversion_char
Note Special characteristics %d, %e The size information “1” can be omitted. Floating-point variables are of the double type and automatically add to this information. %g Do not use. Causes errors. %i Do not use. Any number entered with leading zeros would be interpreted as an octal number. %u Works correctly only in the definition range for the respective variables. The size indicator h (short integer) of the ”scanf” function cannot be written. All integer variables are automatically expanded to 32 bits for input and output.
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You can enter data in the input field through the ASCII keyboard and the numerical keys. The following keys have special functions:
September 2006
Function
Meaning
CE
Deletes a displayed error message or the input field.
ENT
Takes the input value as the variable and sets the highlight on the next input field. If the input value is syntactically incorrect or exceeds the numerical range of the assigned variable, the error message ENTRY VALUE INCORRECT appears.
NOENT
Redisplays the original content of the field and sets the highlight on the next input field.
–/+
If the input value begins with the algebraic sign – or +, the sign is switched.
32 CHAR)
Variable name is too long
PARAMETER INDEX MISSING
Index is missing Closing bracket “]” is missing
SOURCE FILE NOT OPENED
Source file is not opened
TEMPORARY FILE NOT OPENED
Temporary target file is not opened
TOO FEW PARAMETERS
Too few parameters for format instruction
WRONG COMMAND PARAMETER
Parameter does not fit the format
WRONG PARAMETER SWITCH
Incorrect switch
HEIDENHAIN Technical Manual iTNC 530
Module 9211 Status of the large PLC window With this module you can interrogate the status of the large PLC window. Number
Return code
0: Status
0: No screen mask activated 1: Screen mask was activated 2: Screen mask is being activated 3: Screen mask could not be activated
1: Horizontal size
0: No PLC window displayed > 0: Number of pixels
2: Vertical size
0: No PLC window displayed > 0: Number of pixels
3: Displayed page
Displayed page of the screen mask
4: Current field
0: No cursor or the cursor is not located in a field identified with /s = xxx, /e = xxx or / i = xxx. >0: Return of the value xxx of a field identified with /s= xxx, /e = xxx or /i = xxx.
Call: PS CM PL
B/W/D/K 9211 B/W/D -1: Error
Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
1
Invalid number of the status information
W1022
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PLC Window
8 – 121
8.3 PLC Soft Keys You can display your own soft keys on the iTNC and on the HR 420 through the PLC in all operating modes. You can easily define the soft-key projects with PLCdesignNT as of version 2.3 and MenuDesign (included in the PLCdesignNT package as of version 2.3) When a PLC soft key is pressed the NC enters the soft-key number in W302 (horizontal soft-key row), W304 (vertical soft-key row) or W306 (handwheel soft keys). On the rising edge of the keystroke it enters the soft-key number; on the falling edge it enters –1. The PLC can enter –1 itself after recognizing the soft-key number. 8.3.1 Soft-Key Project File for Screen Note The vertical soft keys can only be used with a BF 150. The PLC soft-key structure is defined in a soft-key project file using various keywords. The number of submenus depends only on the iTNC memory. In the OEM.SYS file, the PLC soft-key project file *.SPJ is entered through the keyword SOFTKEYPROJECT =. After acknowledgment of Power interruption the resource file with the same name and the extension .SYS is generated from this file. The results of this evaluation are stored in an ASCII file with the name .SYS.LOG. The soft-key structure is displayed immediately. The PLC soft keys can be influenced with Modules 9205 to 9207. Module 9204 refreshes the PLC soft keys, which is necessary after Modules 9203 and 9207 are executed. Module 9208 determines the status information of the PLC soft keys. In the standard setting the soft-key number is transferred to the PLC via W302/W304 after the NODE, BACK and ACTION soft keys have been pressed. When the key is released, –1 is confirmed. Direct operands can be coupled to soft keys in the project file or with Module 9206. With Module 9205, you can also select a word address other than W302/ W304. BLANK soft keys are not reported to the PLC. Note The states of the assigned operands (STATUS markers or word) of the ACTION, PULSE, CHECK and RADIO soft keys and the display are checked cyclically. If these operands change, the display is adjusted accordingly. For example, if the marker of a CHECK soft key changes from 0 to 1, the display of the soft key is changed to “pressed.” If the value of the word address of a soft-key group, in which a group code is saved, is changed by the PLC, then this value is checked. If the value is valid, then the display of the group is adjusted accordingly.
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Miscellaneous keywords in the soft-key project file
Entry in *.SPJ
Meaning
;
Comment
SKPATH
Path of the soft-key graphic files.
SOFTKEY
Soft-key definition. The name of the soft-key graphic file and the name of the soft key must be specified. The maximum permissible length of the soft-key name is 23 characters. First entry = soft-key number 0, Second entry = soft-key number 1, etc. With ACTION soft keys, the soft-key number is confirmed via W304 (unless changed by Module 9205) to the PLC. You can use the BMX and BMP formats. Properties: Color depth: 16 or 24 bits Soft key for BF 120: 76 x 48 Soft key for BF 150: 120 x 74 You will find information on creating *.BMX files in the online help for PLCdesignNT.
Keywords in the soft-key menus
September 2006
Entry in *.SPJ
Meaning
;
Comment
SKMENU
Beginning of the definition of a soft-key menu. The name of the menu must be specified. The soft keys are automatically assigned to the correct menu rows. Also note the additional parameters for this keyword on page 8 – 126.
ENDSKMENU
End of the definition of a soft-key menu.
NODE
Soft key jumps to a submenu. Is confirmed via W302/ W304 to the PLC. The soft-key name and the name of the submenu must be indicated. Also note the additional parameters for this keyword on page 8 – 126.
BACK
Soft key jumps to a submenu. Is confirmed via W302/ W304 to the PLC. The soft-key name and the name of the submenu must be indicated. Also note the additional parameters for this keyword on page 8 – 126.
BLANK
Vacant soft key. You can also specify a soft-key name.
ACTION
Function soft key. Is confirmed via W302/W304 to the PLC. The soft-key name must be indicated. Also note the additional parameters for this keyword on page 8 – 126.
PULSE
The soft key is reported to the PLC via W302/W304 for the duration of the PLC cycle. A soft-key name must be indicated. Also note the additional parameters for this keyword on page 8 – 126.
PLC Soft Keys
8 – 123
8 – 124
Entry in *.SPJ
Meaning
CHECK
A coupled marker is set the first time it is pressed, and is reset the next time. The soft key is reported to the PLC via W302/W304 for the duration that the key is pressed. A soft-key name must be indicated. Also note the additional parameters for this keyword on page 8 – 126.
RADIO
From any group of these soft-key types, no more than one soft key can be pressed. Assigned status markers for the PLC are also set uniquely. This means that one status marker is always set for the PLC, but not more than one marker can be set at the same time (1-out-of-n rule). However, this does not apply to status markers that do not change within the PLC program (set or reset). If assigned status markers within the PLC program are changed, then the 1-out-of-n rule can be broken for one PLC cycle. It is corrected again during the next cycle. The soft key is reported to the PLC via W302/W304 for the duration that the key is pressed. It is also possible to define more than six RADIO soft keys to one group. A soft-key name must be indicated. Also note the additional parameters for this keyword on page 8 – 126.
STATE
Multiple states can be managed for this soft key. The active state depends on the number of times the soft key was pressed. In order to display these states, the BMX file of the soft key must include the corresponding number of possible states, and a PLC word memory must be assigned. If a PLC bit memory is assigned, only two states can be managed. In the following example, a value is assigned to the PLC word W1000 via a BMX soft key with five possible states. Values from 0 to 4 are assigned here: SOFTKEY spindle_attr.bmx State_Softkey STATE State_Softkey STATUS:W1000 STATES:5 Also note the additional parameters for this keyword on page 8 – 126.
HEIDENHAIN Technical Manual iTNC 530
September 2006
Entry in *.SPJ
Meaning
END
Closes an open pop-up menu. The soft key is reported to the PLC via W302/W304 for the duration that the key is pressed. Also note the additional parameters for this keyword on page 8 – 126.
#include
An additional soft-key project file can be included. The name and path of this file must be entered.
PLC Soft Keys
8 – 125
Additional parameters for the keywords Entry in *.SPJ
In connection with Meaning
VROOT
SKMENU
The menu for the vertical soft-key row is defined in the header of the main menu.
HROOT
SKMENU
The menu for the horizontal soft-key row is defined in the header of the main menu.
EMODE
SKMENU
The menu for the programming modes is defined in the header of the main menu.
MMODE
SKMENU
The menu for the machine modes is defined in the header of the main menu.
ENABLE:
NODE, BACK, END, Depending on the marker status, the soft key is either ACTION, PULSE, locked (marker = 0) or enabled (marker = 1). A locked CHECK, RADIO, STATE marker is shown “inactive.”
HIDE:
NODE, BACK, END, The parameter HIDE assigns a marker to a soft key. If ACTION, PULSE, this marker receives the value 1, then that soft key is CHECK, RADIO, STATE hidden and exchanged for an “empty” soft key.
STATUS:
NODE, BACK, END, An operand is assigned to the soft key (in addition to ACTION, PULSE, W302/W304). If a marker is indicated and the soft key CHECK, RADIO, STATE is pressed, the marker is set. If a word is indicated, the soft key number is entered (index number from the *.sys file).
REPEATDELAY: REPEATINTERVAL:
ACTION, PULSE
An “autorepeat function” can be realized for a soft key by combining these two parameters. The function of the soft key is performed after a delay (REPEATDELAY) at a specified interval (REPEATINTERVAL).
STATES:
STATE
The STATES parameter is used to tell a soft key how many different states it can assume due to repeated pressing. The assigned soft-key image file must support the number of states (see the BMXdesign software from HEIDENHAIN for more information)
POPUPMENU: NODE, ACTION, The menu Menu name is shown in the other soft-key PULSE, CHECK, RADIO row (either vertical or horizontal). A menu opened with the POPUPMENU: parameter is closed again.
CLOSEPOPUPMENU
NODE, BACK
LARGEWINDOW:
NODE, ACTION, A large PLC window with the given mask file is PULSE, CHECK, RADIO displayed across the entire screen.
8 – 126
HEIDENHAIN Technical Manual iTNC 530
Entry in *.SPJ
In connection with Meaning
SMALLWINDOW:
NODE, ACTION, A large PLC window with the given mask file is PULSE, CHECK, RADIO opened instead of the graphics/status window. However, the user can extend it over the entire screen.
CLOSEPLCWINDOW
NODE, ACTION, A large PLC window opened with the LARGEWINDOW: PULSE, CHECK, RADIO or SMALLWINDOW: parameter is closed again.
FirstInGroup
ACTION, PULSE, CHECK, RADIO
September 2006
Defines a soft-key group. This keyword identifies the first soft key of the respective soft-key group. A group consists of at least two soft keys with the same name, which can even be collected over multiple softkey rows (menus in the same level). The functionalities listed above are set depending on the soft-key keyword. Evaluation via group code: So that the operator entry can be evaluated via a group code, the STATUS: parameter must be entered for the first soft-key in the group. No further STATUS: definitions may be entered within this group. ACTION, PULSE and CHECK soft keys: The number of the soft key (within a soft-key group) is transferred bit-coded in the dual system in the given word. For example: 1st soft key (value = 1) 2nd soft key (value = 2) 3rd soft key (value = 4) 4th soft key (value = 8) ... e.g. 9th soft key (value = 256) For groups with CHECK soft keys, more than one soft key can be pressed at the same time. Here the respective value of the group code is summed, and the result is saved in the given word. RADIO soft keys: If this parameter is used in combination with a RADIO soft-key group, the value of the group code is saved as follows: 1st soft key (value = 0) 2nd soft key (value = 1) 3rd soft key (value = 2) 4th soft key (value = 3) …
PLC Soft Keys
8 – 127
Example of a softkey project file Soft-key number (sent to the PLC): 0 1 2 3 ...
PLC SOFT-KEY Project File - Version 1.0 SKPATH ’PLC:\SK\1024x768\’ SOFTKEY SOFTKEY SOFTKEY SOFTKEY ...
’BACK.BMX’ ’MAG.BMX’ ’MAG_CCW.BMX’ ’MAG_CW.BMX’
BACK_SK MAG_SK MAG_CCW_SK MAG_CW_SK
Definition of the soft keys with names for graphics and soft keys
SKMENU RootMenuVM VROOT MMODE NODE MAG_SK Magazine BLANK BLANK BLANK BLANK BLANK ; Row 2 CHECK DIAG_SK POPUPMENU: Diag_Mnu ACTION CHIP_BACK_SK BLANK BLANK RADIO SPI_OFF_SK RADIO SPI_ON_SK ENDSKMENU
Submenu “Diagnosis”
Main menu, vertical soft-key row, machining modes
SKMENU RootMenuHM HROOT MMODE ... BLANK ENDSKMENU
Main menu, horizontal soft-key row, machining modes
SKMENU Magazine ACTION MAG_CCW_SK STATUS: MG_SOFTKEY_WZM_LINKS_DRE ACTION MAG_CW_SK STATUS: MG_SOFTKEY_WZM_RECHTS_DRE BACK BACK_SK ENDSKMENU
Entry of an active marker
SKMENU Diag_Mnu ACTION DIAG_T_SK BLANK BLANK BLANK CHECK MACH_SK CHECK MFUNC_SK ENDSKMENU
LARGEWINDOW:Machine.A SMALLWINDOW:MFUNCT.A
SKMENU row_machine ACTION SK_NC_start FIRSTINGROUP STATUS:NP_W310_GRO ACTION SK_NC_stop ACTION SK_axes_plus FIRSTINGROUP STATUS:NP_W312_GR ACTION SK_axes_minus ... 8 – 128
Display PLC window with mask file
Group with number saved in W310 Group with number saved in W312
HEIDENHAIN Technical Manual iTNC 530
Set W302
Number of the horizontal PLC soft key NC that was pressed Number of the vertical PLC soft key NC that was pressed
W304
Reset NC NC
Module 9203 Activate PLC soft-key menu Up to 340 420-05: with Module 9203, you activate a soft-key resource. The resource file *.SYS is entered. The PLC soft-key project can be defined in such a way that it is effective only for specific modes of operation. This might be useful, for example, if you want to use different PLC soft-key projects for the machine and programming modes of operation. The module supplies the resource handle for Modules 9204 to 9208. Call: PS
PS
PS
PS PS
CM PL
D
0 when it is called for the first time, otherwise Resource handle from Module 9203 B/W/D/K/S (only necessary up to 340 420-05), 0 or “” is given (is no longer evaluated) B/W/D/K Number of the soft-key menu Value < 0: - Returns the current resource handle - (up to 340 420-05: returns an error) B/W/D/K 1: Vertical PLC soft-key row B/W/D/K 0: Programming modes of operation 1: Machine modes of operation 2: Programming and machine modes of operation 9203 D 0: Error code in W1022
Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
2
Resource-handle overflow, incorrect resource handle, incorrect mode, incorrect operating mode or number of PLC soft-key root menu negative
3
Incorrect string number or incorrect string
20
Module was not called in a spawn job or submit job
44
Error in the resource file
PLC Soft Keys
8 – 129
Module 9204 Update the PLC soft keys If you want to restructure the PLC soft keys, you must call Module 9204. This is necessary each time you have called Modules 9203 and 9207. Call: PS
D
CM
9204
Resource handle from Module 9203
Error recognition:
8 – 130
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
2
Incorrect resource handle
20
Module was not called in a spawn job or submit job
HEIDENHAIN Technical Manual iTNC 530
Module 9205 Setting the word for acknowledgment of PLC soft keys Module 9205 can be used to define another word, in addition to W302/W304, in which the pressing of PLC soft keys is acknowledged. This can be done for the complete project file, individual PLC soft-key menus or individual PLC soft keys. Changes in individual PLC soft keys affect the entire project file. Call: PS PS
PS PS PS CM
D
Resource handle from Module 9203 B/W/D/K 0: Complete project file 1: Individual menu 2: Individual PLC soft key B/W/D/K If “complete project file”: Non-functional, transfer 0 D 0 transferred B/W/D/K –1: W304 9205
Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
1
Invalid PLC word address
W1022
September 2006
2
Incorrect resource handle or incorrect mode
3
Invalid PLC label address
20
Module was not called in a spawn job or submit job
44
Error during setting of setup parameters
PLC Soft Keys
8 – 131
Module 9206 Change setting of the PLC soft keys With Module 9206, the settings of individual PLC soft keys in the PLC soft-key structure can be changed: PLC soft keys can be locked and unlocked. Locked PLC soft keys cannot be used. PLC soft keys can be coupled to new operands. This way the status of the PLC soft key is directly available in the PLC program. Couple PLC soft-keys to operands that • Unlock the PLC soft keys in a set state • Lock the PLC soft keys in a reset state If a locked PLC soft key is pressed, it sets the marker M4577. Call: PS
D
PS PS
B/W/D/K B/W/D/K
PS
B/W/D/K
PS
B/W/D/K
CM
9206
Resource handle from Module 9203 0: Lock soft key 1: Unlock soft key 2: Decouple soft key from assigned operand 3: Couple new operand to soft key 4: Decouple the soft-key unlocking/locking from the assigned operand 5: Couple the soft-key unlocking/locking with the operand Only for function 3 and 5, otherwise transfer 0 Only for function 3 and 5, otherwise transfer 0 0: Marker M 1: Input I 2: Output O 3: Counter C 4: Timer T
Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
2
Incorrect resource handle or incorrect function
20
Module was not called in a spawn job or submit job
44
Error during setting of setup parameters
W1022
8 – 132
HEIDENHAIN Technical Manual iTNC 530
Module 9207 Replace PLC soft keys With Module 9207, individual PLC soft-keys can be replaced by another PLC soft key. The change can be applied to the entire project file or only to an individual menu. If a soft key is to be replaced in the entire project file, the source menu is excepted from it so that the soft key can remain to make it possible to reverse the replacement. Call: PS
D
PS PS PS PS
B/W/D/K B/W/D/K B/W/D/K B/W/D/K
PS
B/W/D/K
CM
9207
Resource handle from Module 9203 –1: Entire resource file except source menu 0: Replace soft key
Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
September 2006
2
Incorrect resource handle or incorrect function
20
Module was not called in a spawn job or submit job
44
Error during setting of setup parameters
PLC Soft Keys
8 – 133
Module 9208 Status information of the PLC soft keys Call: PS D Resource handle from Module 9203 PS B/W/D/K 0: Number of the current soft-key menu PS B/W/D/K 0 transferred CM 9208 PL D Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
2
Incorrect resource handle or incorrect function
20
Module was not called in a spawn job or submit job
44
Error finding the status information
W1022
8 – 134
HEIDENHAIN Technical Manual iTNC 530
8.3.2 Soft-Key Project File for HR 420 Via the PLC, the iTNC can now also manage freely-definable soft keys on the HR 420. The corresponding entries are made in the general soft-key resource file (*.spj) of the PLC project, in which the soft keys for the vertical and horizontal soft-key rows of the iTNC screen are defined. It is now possible to switch from the basic menu of the HR 420, via the FCT (Function) soft key, to a freely-definable submenu structure, each of which contains 5 soft keys, whose description and functions are specified in the softkey resource file. This menu is displayed in the fourth row of the HR 420. Four ASCII characters are available for each soft key. However, if each soft key uses all four characters, then there is no empty space between the soft-key designations. In addition, you can optionally have a menu title with 20 characters displayed in the third row of the HR 420 display for the main menu and each submenu. The scope of function of the soft keys on the handwheel is limited somewhat compared to the vertical and horizontal soft keys of the iTNC screen. The following definitions are possible: Entries for the menu definition and type of soft key in the HR 420 menu: Entry
Parameters
Description
;
Comment
SKMENU ENDSKMENU
Beginning or end of the definition of a soft-key menu. The name of the menu must be given for SKMENU (e.g. “HRRootMenu” – see the example). The soft keys are aligned on the HR 420 in the sequence in which they appear in the file. Also note the additional parameters for this keyword. HRROOT
Freely-definable root menu when called from the basic handwheel menu via the FCT (Function) soft key
HRMENU
Freely-definable submenu, called via the keyword NODE ...
TITLE:
Menu title: Freely definable text in the third line of the HR 420 The parameter TITLE: can also be surrounded by quotation marks. This permits blank spaces in the menu title.
NODE
Soft key jumps to a submenu. Is confirmed via W306 to the PLC. The soft-key name and the name of the submenu must be indicated.
BACK
Soft key jumps to a submenu. Is confirmed via W306 to the PLC. The soft-key name and the name of the submenu must be indicated.
BLANK
Vacant soft key, is shown as “..”. You can also specify a soft-key name.
ACTION
Function soft key. Is confirmed via W306 to the PLC. The soft-key name must be indicated. STATUS:
September 2006
An operand is assigned to the soft key (in addition to W306). If a marker is indicated and the soft key is pressed, the marker is set. If a word is indicated, the soft key number is entered (index number in the *.sys file, e.g. Softkey.sys).
PLC Soft Keys
8 – 135
Entry
Parameters
PULSE
The soft key is reported to the PLC via W306 for the duration of the PLC cycle. A soft-key name must be indicated.
Description
The soft-key types RADIO, CHECK and STATE may not be used. Other parameters, such as ENABLE, HIDE, REPEAT, etc. are not yet available. Additional keywords and parameters for the definition of soft keys in the HR 420 menu: Keyword
Parameters
Description
TX
#I
Language-neutral text for the description of a soft key (up to 4 ASCII characters)
#A
Input of an ASCII value as a possibility for displaying special characters. This value must be entered in decimal notation as three digits. Special characters include - 128 = Arrow up - 129 = Arrow down - 133 = Return symbol in the menu
A combination of the parameters named above is possible, e.g. #IUp#128 to display Up↑
8 – 136
HEIDENHAIN Technical Manual iTNC 530
The following example shows the configuration of a soft-key menu for an HR 420. These settings must be fully integrated in the soft-key project file of the iTNC 530. PLC SOFT-KEY Project File - Version 1.0 SKPATH ’PLC:\SK\1024x768\’ ... TX #IUp#A128 HR_SK1 TX #IDn#A129 HR_SK2 TX #ISta HR_SK3 TX #IPul HR_SK4 TX #IEND HR_SK5 ... SKMENU HRRootMenu HRROOT “TITLE:Menu: Laser Head” ACTION HR_SK1 STATUS: MG_LASER_HEAD_UP ACTION HR_SK2 STATUS: MG_LASER_HEAD_DOWN NODE HR_SK3 HRSubMenu ACTION HR_SK4 STATUS: M1122 BACK HR_SK5 ENDSKMENU
SKMENU HRSubMenu ACTION HR_SK6 ... BLANK ENDSKMENU
September 2006
Definition of the soft keys with their description
Root menu of the handwheel menu
HRMENU Submenu of the handwheel menu
PLC Soft Keys
8 – 137
8.3.3 Compatibility to TNC 426/TNC 430 With Module 9200 you can display entire soft-key rows. With Module 9201 you can show individual soft keys. With Module 9202 you can switch to the display with PLC soft keys and PLC windows. This module works like the screen management key. Display/delete PLC soft-key row
8
In the system file PLC:\PLCSOFTK.SYS, enter the names and path of the required soft-key files. With the sequence of your entries you specify the soft-key number: Line 0 = soft-key number 0, etc. One soft-key level can consist of up to four soft-key rows, i.e. 32 soft keys per level.
8
When calling the module, indicate the row to be displayed first.
8
With the transfer parameter, specify how the soft keys should be displayed: • After the screen management key is pressed, i.e. after the PLC window is selected • In the current operating mode: In this case the NC soft keys are overwritten.
8
Specify whether the NC soft keys should be overwritten or whether the PLC soft keys should be appended to the NC soft keys. If you append the PLC soft keys, a separate list is opened. Only one PLC soft-key row can be appended.
W302
8 – 138
Number of the horizontal PLC soft key that was pressed
Set
Reset
NC
NC
HEIDENHAIN Technical Manual iTNC 530
Module 9200 Display/delete PLC soft-key row The soft keys to be activated are specified in a constants field by their line numbers. If there is no PLCSOFTK.SYS file, or if the lines indicated in the constants field do not exist, no soft-key row is generated. Can only be called from the sequential program. Call: PS
PS PS
CM
B/W/D/K/KF 1: Delete soft-key level KF: Address of soft-key selection B/W/D/K 0 to 3: Soft-key row to be displayed B/W/D/K 0: Soft-key row for displayed PLC window 1: Soft-key row in current operating mode 2: Append soft-key row to NC soft keys 9200
Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
1
Incorrect transfer parameters (e.g. KF address not in address range of the PLC code)
2
Line nr. < 0 (not –1) in the constants field
24
Module was called in a spawn job or submit job
25
More than 32 elements in the constants field
PLC Soft Keys
8 – 139
Display/delete PLC soft key
8
Procedure for displaying/deleting a PLC soft key
Module 9201 Display/delete PLC soft key If no PLCSOFTK.SYS file exists, or if the specified line does not exist, no soft key is generated. In an existing PLC soft-key level, the soft key is displayed/ deleted at the specified position. Can only be called from the sequential program. Call: PS
PS PS
CM
B/W/D/K 0: Line no. –1: Delete soft key B/W/D/K 0 to 31 B/W/D/K 0: Soft key for displayed PLC window 1: Soft key in current operating mode 2: Append soft key to NC soft key 9201
Error recognition:
Select/deselect PLC soft keys and PLC windows
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
1
Transfer parameter out of value range
2
Line nr. < –1
24
Module was called in a submit job
Module 9202 Select/deselect PLC soft keys and PLC windows With Module 9202 you activate the display with PLC windows or the PLC softkey display. This module works like the screen management key. Call: PS
CM
B/W/D/K 0: PLC soft key/window deselected 1: Small PLC soft key/window deselected 2: Large PLC soft key/window deselected 3: Large PLC soft key/window selected while table editor is active 9202
Error recognition:
8 – 140
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
1
Transfer parameter out of value range
HEIDENHAIN Technical Manual iTNC 530
8.4 Keystroke Simulation HEIDENHAIN contouring controls have two control panels: iTNC keyboard unit The machine operating panel from the machine tool builder These control panels are connected with the MC 42x(B) at connections X45 and X46. The key code of the iTNC keyboard unit is evaluated directly by the NC. PLC inputs and outputs for the machine control panel are available on connector X46. You must evaluate the inputs and outputs in the PLC. 8.4.1 iTNC Keyboard Unit The key code of the iTNC keyboard unit is evaluated by the NC. The key code is displayed in W274 while a key is being pressed. (See “Codes for keystroke simulation” on page 8 – 145) If you press a disabled key, marker M4577 is also set. The following modules can influence keys and soft keys: Module 9180: Simulation of NC keys Module 9181: Disabling of individual keys Module 9182: Re-enabling of individual keys Module 9183: Disabling groups of NC keys Module 9184: Re-enabling of groups of NC keys Module 9186: Calling a soft-key function Module 9187: Status of a soft-key function call With MP4020 bit 9, specify whether a simulated key should only be transmitted to the NC, or also to an active PLC window. With MP4020 bit 10, specify whether a disabled key should be disabled only for the active PLC window, or for the active PLC window and for the NC.
September 2006
Set
Reset
NC NC
NC PLC
W274 M4577
Code of the depressed key Disabled key was pressed
MP4020 Input:
PLC compatibility Bit 9 – Behavior of a simulated key 0: Simulated key is transferred immediately to the NC 1: Simulated key is processed first by an active PLC window before being transferred to the NC Bit 10 – Behavior of a disabled key 0: Locked key only works on the active PLC window 1: Locked key works on neither the active PLC window nor on the NC
Keystroke Simulation
8 – 141
Module 9180 Simulation of NC keys With this module you can simulate the activation of NC keys and soft keys. You transfer the code of the desired key. If you transfer the code value zero, the number of occupied elements in the keystroke queue is returned. In this case there is no keystroke simulation. Call: PS CM PL
B/W/D/K 9180 B/W/D 0: Key code was transferred, key queue is empty 1 to 16 : Key code was not yet simulated, max. 16 entries in the keystroke queue are possible -1: For error see W1022
Error recognition: Marker
Value
Meaning
M4203
0
NC key was simulated
1
Error code in W1022
W1022
1
Transferred parameter > maximum value
2
Transferred parameter invalid
22
Keystroke queue overflow
Module 9181 Disabling individual NC keys With this module you can disable individual NC keys. If you press a disabled key, marker M4577 is set. Call: PS CM PL
B/W/D/K 9181 B/W/D 0: NC key disabled -1: For error see W1022
Error recognition: Marker
Value
Meaning
M4203
0
NC key was disabled
1
Error code in W1022
W1022
8 – 142
1
Transferred parameter > maximum value
2
Transferred parameter invalid
HEIDENHAIN Technical Manual iTNC 530
Module 9182 Re-enabling individual NC keys With this module you cancel the effect of Module 9181. Call: PS CM PL
B/W/D/K 9182 B/W/D 0: NC key enabled -1: For error see W1022
Error recognition: Marker
Value
Meaning
M4203
0
Disabling was canceled
1
Error code in W1022
1
Transferred parameter > maximum value
2
Transferred parameter invalid
W1022
Module 9183 Disabling groups of NC keys The key-group codes are: 0: All keys 1: ASCII 2: Soft keys, Page Up/Down 3: Cursor, ENT, NOENT, DEL, END, GOTO 4: Numbers, algebraic signs, decimal point, actual position capture 5: Operating modes 6: Block opening keys Call: PS CM PL
B/W/D/K 9183 B/W/D 0: Group of NC keys disabled –1: Transferred value> maximum value
Error recognition: Marker
Value
Meaning
M4203
0
The group of NC keys was disabled
1
Error code in W1022
2
Transferred parameter invalid
W1022
September 2006
Keystroke Simulation
8 – 143
Module 9184 Re-enabling groups of NC keys With this module you cancel the effect of Module 9183. Call: PS CM PL
B/W/D/K 9184 B/W/D 0: Group of NC keys enabled –1: Transferred value> maximum value
Error recognition: Marker
Value
Meaning
M4203
0
Disabling was canceled
1
Error code in W1022
2
Transferred parameter invalid
W1022
Module 9186 Call a soft-key function With this module you can call certain soft-key functions in the machine operating modes. Do not call a new function until the previous one is completed. You can interrogate this condition with Module 9187. For a soft-key function to be simulated it must be displayed either in the foreground or background operating mode. Otherwise the module has no effect. Module 9187 reports the error. Call: PS
CM
B/W/D/K 0: INTERNAL STOP 1: M output 2: S output 3: PROBE FUNCTION 4: PASS OVER REFERENCE MARK 5: RESTORE POSITION 6: INCREMENTAL JOG 7: Feed-rate limitation F MAX 9186
Error recognition: Marker
Value
Meaning
M4203
0
Soft-key function was called
1
Error code in W1022
W1022
8 – 144
1
Parameter out of value range
28
Previous call not ended
HEIDENHAIN Technical Manual iTNC 530
Module 9187 Status of a soft-key function call Immediately after Module 9186 is called, the status 1 (soft-key function not yet completed) is set — regardless of whether the function can be run in the current operating mode. Module 9186 cannot be called again until status 0 or 2 is set. The error status 2 is erased if Module 9186 is called or if power is switched on. Call: CM PL
9187 B/W/D
0: Soft-key function completed or none called 1: Soft-key function not yet completed 2: Error: Soft-key function cannot be completed because soft key is not available or operating mode is incorrect
Codes for keystroke simulation Code
Key
Group
Code
Key
Group
$00
No key
$08
BACKSPACE
$3A
:
ASCII
ASCII
$3B
;
ASCII
$0A
RET
ASCII
$3C
<
ASCII
$20
SPACE
ASCII
$3D
=
ASCII
$21
!
ASCII
$3E
>
ASCII
$22
„
ASCII
$3F
?
ASCII
$23
#
ASCII
$41
A
ASCII
$24
$
ASCII
$42
B
ASCII
$25
%
ASCII
$43
C
ASCII
$26
&
ASCII
$44
D
ASCII
$28
(
ASCII
$45
E
ASCII
$29
)
ASCII
$46
F
ASCII
$2A
*
ASCII
$47
G
ASCII
$2B
+
ASCII
$48
H
ASCII
$2C
,
ASCII
$49
I
ASCII
$2D
–
ASCII
$4A
J
ASCII
$2E
. (ASCII DOT)
ASCII
$4B
K
ASCII
$2F
/
ASCII
$4C
L
ASCII
$30
0
Numbers
$4D
M
ASCII
$31
1
Numbers
$4E
N
ASCII
$32
2
Numbers
$4F
O
ASCII
$33
3
Numbers
$50
P
ASCII
$34
4
Numbers
$51
Q
ASCII
$35
5
Numbers
$52
R
ASCII
$36
6
Numbers
$53
S
ASCII
$37
7
Numbers
$54
T
ASCII
$38
8
Numbers
$55
U
ASCII
$39
9
Numbers
$56
V
ASCII
September 2006
Keystroke Simulation
8 – 145
Code
Key
Group
Code
Key
Group
$57
W
ASCII
$1BC
–
Numbers
$58
X
ASCII
$1BD
.
Numbers
$59
Y
ASCII
$1C0
MANUAL
Operating mode
$5A
Z
ASCII
$1C1
TEACH-IN
Operating mode
$5E
^
ASCII
$1C2
SINGLE
Operating mode
$160
Soft key 0
Vertical soft key
$1C3
AUTO
Operating mode
$161
Soft key 1
Vertical soft key
$1C4
EDIT
Operating mode
$162
Soft key 2
Vertical soft key
$1C5
HANDWHEEL
Operating mode
$163
Soft key 3
Vertical soft key
$1C6
TEST
Operating mode
$164
Soft key 4
Vertical soft key
$1C7
MOD
$165
Soft key 5
Vertical soft key
$1CB
PGM MGT
$17D
FNEXT (vertical)
Vertical soft key
$1D0
PGM-CALL
Block opening
$180
Soft key 0
Horiz. soft key
$1D1
TOOL DEF
Block opening
$181
Soft key 1
Horiz. soft key
$1D2
TOOL CALL
Block opening
$182
Soft key 2
Horiz. soft key
$1D3
CYCL DEF
Block opening
$183
Soft key 3
Horiz. soft key
$1D4
CYCL CALL
Block opening
$184
Soft key 4
Horiz. soft key
$1D5
LBL SET
Block opening
$185
Soft key 5
Horiz. soft key
$1D6
LBL CALL
Block opening
$186
Soft key 6
Horiz. soft key
$1D7
L
Block opening
$187
Soft key 7
Horiz. soft key
$1D8
C
Block opening
$19C
FBACK
Horiz. soft key
$1D9
CR
Block opening
$19D
FNEXT (horizontal) Horiz. soft key
$1DA
CT
Block opening
$19E
FNEXT-UP
Horiz. soft key
$1DB
CC
Block opening
$1A0
C-UP
Cursor
$1DC
RND
Block opening
$1A1
C-DOWN
Cursor
$1DD
CHF
Block opening
$1A2
C-LEFT
Cursor
$1DE
FK
Block opening
$1A3
C-RIGHT
Cursor
$1DF
TOUCH-PROBE
Block opening
$1A8
ENTER
Cursor
$1E0
STOP
Block opening
$1A9
NO-ENTER
Cursor
$1E1
APPR/DEP
Block opening
$1AB
DEL
Cursor
$1EA
DIA
$1AC
END BLOCK
Cursor
$1EB
FIG
$1AD
GOTO
Cursor
$1EC
Screen switchover
$1AE
CE
$1ED
HELP
$1B0
X
$1EE
INFO
$1B1
Y
$1EF
CALC
$1B2
Z
$1F0
NC-START
$1B3
IV
$1B4
V
$1B8
POLAR
$1B9
INCREMENT
$1BA
Q
$1BB
ACTPOS
8 – 146
Numbers HEIDENHAIN Technical Manual iTNC 530
8.4.2 Machine Operating Panel On socket X46 there are 25 PLC inputs (I128 to I152) and eight PLC outputs (O0 to O7) for evaluating the keys on the machine operating panel. You can activate specific functions by linking the PLC inputs with the corresponding markers and words. You can store the pressing of an axis-direction key: 8
With MP7680 bit 0, enable the memory function.
8
Use M4562 to save a depressed axis direction key. This means that the axis will move until there is an NC STOP.
MP7680 Input:
Machine parameter with multiple function Bit 0 – Memory function for axis-direction keys with M4562: 0: Not saved 1: Saved if M4562 is set
W1046
Manual traverse in positive direction PLC Bits 0 to 13 correspond to axes 1 to 14:
Set
Reset PLC
0: Do not move axis 1: Move axis Set W1048
Manual traverse in negative direction PLC Bits 0 to 13 correspond to axes 1 to 14:
Reset PLC
0: Do not move axis 1: Move axis
M4230 M4231 M4560 M4561 M4562 M4564
September 2006
NC start via LSV2 NC stop via LSV2 NC stop (0: Stop) Rapid traverse Memory function for axis direction keys (MP7680 bit 0 = 1) NC start
Keystroke Simulation
Set
Reset
NC NC PLC PLC PLC
NC NC PLC PLC PLC
PLC
PLC
8 – 147
8.4.3 Touchpad on USB Port In order to prevent accidental entries via the touchpad, you can lock it via the PLC with Module 9185. This module is used to disable or enable entries via screen pointing devices that are attached to the USB port (X141/X142). The status of the locking can also be interrogated. Module 9185 Touchpad status Call: PS B/W/D/K 0: Enable touchpad (UNLOCK) 1: Lock touchpad (LOCK) 2: Status request CM 9185 PL B/W/D -1: Status not defined 0: Touchpad is enabled 1: Touchpad is locked Error recognition:
8 – 148
Marker
Value
Meaning
M4203
0
Function was performed
1
Error code in W1022
W1022
2
Invalid mode
HEIDENHAIN Technical Manual iTNC 530
✎
September 2006
Keystroke Simulation
8 – 149
8.5 Files The iTNC enables you to edit various file types. File types are identified by an extension after the file name. Disable soft keys for file types
With the SELECT TYPE soft key you can display a soft key for each file type:
Disabling file types for editing
Protected files cannot be edited or changed. They are displayed in the file overview with the color defined in MP7354.1 or MP7355.1, and if the EDIT ON OFF soft key is pressed, the Protected file! error message appears:
8
Select MP7224.0 to disable soft keys of specific file types.
8
Choose with MP7224.1 the file type that you want to protect.
8
Choose with MP7224.2 the file type whose EDIT ON OFF soft key is to be disabled.
MP7224 Input:
Disable file types Bit 0 – HEIDENHAIN programs *.H Bit 1 – ISO programs *.I Bit 2 – Tool tables *.T Bit 3 – Datum tables *.D Bit 4 – Pallet tables *.P Bit 5 – Text files *.A Bit 6 – Reserved Bit 7 – Point tables *.PNT 0: Do not disable 1: Disable Disabling soft keys for file types Protecting file types Disable the EDIT ON/OFF soft key
MP7224.0 MP7224.1 MP7224.2 Selecting a file
If you are in the Program Run, Single Block or Program Run, Full Sequence operating modes, you can select a file via the PLC. W1018 returns the number of files opened by the PLC. W1020 returns the number of all open files. 8
With Module 9290, transfer the name of the file to be selected.
Module 9290 Selecting a file You can select a file in the Program Run, Single Block or Program Run, Full Sequence operating modes. Call: PS CM
B/W/D/K/S 9290
Error recognition:
8 – 150
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
2
Invalid string was transferred
8
Control is not in the Program Run, Single Block or Program Run, Full Sequence operating mode
20
Module was not called in a spawn job or submit job
29
Selected file is invalid or does not exist HEIDENHAIN Technical Manual iTNC 530
W1018 W1020
September 2006
Number of files opened by the PLC Number of open files
Files
Set
Reset
NC NC
NC NC
8 – 151
8.5.1 Datum Tables (*.D) You can define up to 255 different datums in a datum table: 8
In MP7226.1, define the size of the table.
With Cycle 7 DATUM SHIFT, you can enter the new datum with absolute coordinates or specify a line number from the datum table (see the User’s Manual). With Modules 9092 to 9094 you can use the PLC to read from and write to the current datum table (see “Tool and Pocket Number” on page 8 – 235). With FN17: SYSWRITE and FN18: SYSREAD you can read and overwrite values in the datum table (OEM cycles). See pages 9 – 40 and 9 – 50. MP7226.1 Input: Reference for values in the datum table
Size of the datum table 0 to 255 [lines]
The values from the datum table can be interpreted with respect to the workpiece datum or to the machine datum (MP960.x): 8
Enter the datum in MP7475.
MP7475 Input:
Reference for datum table 0: Reference is workpiece datum 1: Reference is machine datum (MP960.x)
If MP7475 = 1 is programmed for NC software 340 422-x, and if Cycle 7 (DATUM SHIFT) is entered in the NC program, the error message Use preset table! appears. 8.5.2 Freely Definable Tables You can adapt tables to suit your own applications: 8
Define the number and names of the fields as prototypes.
You can interrogate and edit the entries through PLC modules or through the FN functions FN26: TABOPEN, FN27: TABWRITE and FN28: TABREAD (see the User’s Manual). With the exception of pallet tables and cutting data tables, freely definable tables are given the file name extension .TAB. Creating a prototype
8
Switch to PLC mode. (See “Selecting the PLC Mode” on page 9 – 4)
8
In the PLC:\PROTO directory, create a table with the extension .TAB.
If you have not yet defined prototypes, a standard prototype will be supplied. If you have defined more than one prototype, a menu will appear when you create a table: 8
8 – 152
Select an existing prototype and change the format by using the soft key EDIT FORMAT.
HEIDENHAIN Technical Manual iTNC 530
If you have selected a prototype, the structure commands of the individual columns are displayed: NAME: Heading of the column. Maximum 8 characters, no longer than WIDTH. Do not use any blanks. TYPE: • N = Numerical input (with “$”in hexadecimal and “%” in binary format) • C = Alphanumeric input • X = Date-stamp function; if the line in the table is changed, then depending on the length defined in WIDTH, the current time (WIDTH=8) or the current time and date (WIDTH=19) can be entered in the field. hh:mm:ss dd.mm.yyyy is the valid format here. The date-stamp function is active in combination with write-accesses by the PLC (via module) and from NC programs (FN function TABWRITE, WRITE TO KINEMATIC). • L = Entry of an integer value (no decimal places); special type for quicker access for machining, such as for position requests. WIDTH: Width of the column. For TYPE = N it includes the algebraic sign, decimal point and decimal places. DEC: Number of decimal places; = 0 for hexadecimal or binary format input. Has no meaning for TYPE = C. ENGLISH to RUSSIAN: Language-specific messages that are shown in the dialog line during editing of the column. Maximum 32 characters per language. Dialog entry is optional. 8
Press the “Insert line” soft key and enter your structure commands in the respective column.
8
With the END key you exit the display of the structure definition. The table you have just created is displayed with the newly defined columns. Note A table can have a maximum of 30 columns and a maximum width of 500 characters.
September 2006
Files
8 – 153
Data transfer
Valid for tables with the file name extensions .TAB, .P and .CDT: If a freely definable table is transferred through a data interface, in the externally saved file the structure definition is saved between the lines #STRUCTBEGIN and #STRUCTEND. The contents of the table are after the line #STRUCTEND.
Reading and editing table fields in the PLC
You can read and overwrite table fields in the PLC by using modules. You can give the user access to parts of tables for editing.
Note The following modules must be called in a submit job or spawn job. When entering the column names, pay attention to the case of the letters (whether they are small or capital). Module 9245 Read a field in a table Open the table with the file name extension .TAB or .P with Module 9240, and not in the buffered mode. If an error occurs, the result is undefined. The module provides the contents as a string. Call: PS PS PS PS CM
D
From Module 9240 B/W/D/K 0 to 65 535 B/W/D/K/S B/W/D/K/S 9245
Error recognition:
8 – 154
Marker
Value
Meaning
M4203
0
Field was read
1
Error code in W1022
W1022
1
Line does not exist in table
2
Incorrect “file handle” or table was opened in “buffered” mode
3
Impermissible string numbers
7
Module could not read from the table
20
Module was not called in a spawn job or submit job
29
The opened file is not a table with the extension .TAB or .P
30
Column name not found
HEIDENHAIN Technical Manual iTNC 530
Module 9255 Reading a field from a table as an integer value Open the table with the file name extension .TAB or .P with Module 9240, and not in the buffered mode. If an error occurs, the result is undefined. The module provides the contents as an integer value. Call: PS PS PS CM PL
D
From Module 9240 B/W/D/K 0 to 65 535 B/W/D/K/S 9255 B/W/D
Error recognition: Marker
Value
Meaning
M4203
0
Field was read
1 W1022
September 2006
Error code in W1022 See Module 9245
Files
8 – 155
Module 9246 Write to a field in a table Open the table with the file name extension .TAB or .P with Module 9240, and not in the buffered mode. The field defined by the column name and line number is overwritten. If a line that does not yet exist is transferred, the file is filled with blank spaces up to the defined line. The module transfers a string. Call: PS PS
PS PS CM
D
From Module 9240 B/W/D/K –1: Next vacant line 0 to 65 535 B/W/D/K/S B/W/D/K/S 9246
Error recognition:
8 – 156
Marker
Value
Meaning
M4203
0
Field was written to
1
Error code in W1022
W1022
1
Line does not exist in table
2
Incorrect “file handle” or table was opened in “buffered” mode
3
Impermissible string numbers
6
Table is write-protected
7
Not a numerical field (Module 9256)
11
The transferred value cannot be saved to the addressed field. Incorrect format.
20
NCMACRO.SYS does not exist
29
The opened file is not a table with the extension .TAB or .P
30
Column name not found
HEIDENHAIN Technical Manual iTNC 530
Module 9256 Writing an integer value to a field in a table Open the table with the file name extension .TAB or .P with Module 9240, and not in the “buffered” mode. The field defined by the column name and line number is overwritten. This module can be used only for an integer. Values with decimal places are written without the decimal point. If a line that does not yet exist is transferred, the file is filled with blank spaces up to the defined line. Call: PS PS
PS PS CM
D
From Module 9240 B/W/D/K –1: Next vacant line 0 to 65 535 B/W/D/K/S B/W/D/K 9256
Error recognition: Marker
Value
Meaning
M4203
0
Field was written to
1 W1022
September 2006
Error code in W1022 See Module 9246
Files
8 – 157
Module 9247 Search for a condition in a table Open the table with Module 9240 not in the “buffered” mode. The module searches for a field content that fulfills one or more conditions. The conditions are formulated with the commands of the System Query Language (SQL) data bank language. Pay attention to the case of the letters (whether they are small or capital) in the commands and column names. If you indicate a starting line, the module can search for several suitable field entries. Permissible SQL commands: Command
Meaning
+,–,*,/
Arithmetical operators
NOT, AND, OR
Logical operators
, =, ==,
Comparisons
LIKE ´abc´
Text comparison
LIKE ´_abc%´
Partial string
()
Parentheses
MIN(column name)
Minimal value from the column
MAX(column name)
Maximum value from the column
Example: Search in a pallet table for the line with the NC program 1.H and the set datum X=–10. String contents: WHERE (PAL/PGM LIKE´PGM´) AND (NAME LIKE´1.H´) AND (X==–10) Call: PS PS PS CM PL
D
From Module 9240 B/W/D/K 0 to 65 535 B/W/D/K/S 9247 B/W/D -1: Error code in W1022
Error recognition:
8 – 158
Marker
Value
Meaning
W1022
1
Start line does not exist in table
2
Incorrect “file handle” or table was opened in “buffered” mode
3
Impermissible string numbers
7
Module could not be read from the table
20
Module was not called in a spawn job or submit job
29
Incorrect file format
30
Column name not found
31
Syntax error in the transferred condition
32
No data record found that fulfills the condition
HEIDENHAIN Technical Manual iTNC 530
Starting the PLC editor for tables
In the machining modes a table editor can be started: 8
Specify the lines and columns that are to be displayed.
You can provide the PLC editor only with tables with the file extensions .TAB or .P. A temporary file with the name SYS:\TEMP\PLCTABED.TAB is saved. With Modules 9240, 9241, 9245 and 9247 you can check this temporary file before you place the edited data into the original table with Module 9251. 8
Enter the editable columns in the sequence in which they are to be displayed. Do not enter the line number! It is displayed automatically.
8
Separate the individual columns by a space character. If you have transferred an empty string, all columns of the original table are displayed.
8
Enter the first and last line to be displayed on the screen. Line numbering begins with zero. If you enter –1 as the last line, the table will be shown to its end. If you release all lines and columns for editing, you can choose: • Whether lines can be deleted and inserted • Whether the original table should be edited directly
If you edit the original table directly, you cannot cancel the changes with Module 9251. If you do not edit the original table directly and the PLC program is recompiled while the PLC editor is open, the editor will be closed without transferring the changes to the original table. If the END key or the END soft key is pressed while the PLC editor is opened, the NC sets M4159. The PLC editor is not closed by the NC. It must be closed by the PLC with Module 9251. M4159 is reset when Module 9250 is called. With Module 9035 you can request the active line in the PLC editor.
September 2006
Files
8 – 159
Module 9250 Starting the PLC editor for tables With this module you start a table editor in the machining modes (compare “Tool Tables”). Call only in a submit job or spawn job. Call: PS PS PS PS PS
CM
B/W/D/K/S Complete path and name B/W/D/K/S B/W/D/K [0 to 65 535] B/W/D/K [0 to 65 535] B/W/D/K Bit 0=1: Lines can be inserted and deleted (if all lines and columns are selected) Bit 1=1: Edit in the original file (if all lines and columns are selected) Bit 2=0: Shown as a table Bit 2=1: Shown as a form 9250
Error recognition: Marker
Value
Meaning
M4203
0
Editor was opened
1
Error code in W1022
1
First and last line do not define a meaningful range, or incorrect value for mode was transferred
3
Impermissible string number
7
The module could not read from the table or open the temporary file
W1022
M4159
8 – 160
20
Module was not called in a spawn job or submit job
28
PLC editor already open for another table
29
The opened file is not a table (extension .TAB or .P)
30
Column name not found
PLC editor: END key or soft key pressed
Set
Reset
NC
NC/PLC
HEIDENHAIN Technical Manual iTNC 530
Module 9251 Ending the PLC editor for tables With this module you end the PLC editor and specify whether the changes are to be put into the original table. The changed values are not checked automatically. Before calling Module 9251 you can read and check the temporary file in the PLC. Call: PS
CM
B/W/D/K 0: Do not place changes into the original file 1: Place changes into the original file 9251
Error recognition: Marker
Value
Meaning
M4203
0
Editor was opened
1
Error code in W1022
W1022
3
Incorrect value was transferred for mode
6
Changes could not be saved in the original table
20
Module was not called in a spawn job or submit job
28
PLC editor had not been opened with Module 9250
Module 9252 Positioning the cursor in the PLC editor With this module you place the cursor of the PLC editor on a specified line and in a specified column. The line is defined relative to the starting line of Module 9250. The designated column must be defined in Module 9250. Call: PS PS CM
B/W/D/K/S B/W/D/K 9252
Error recognition: Marker
Value
Meaning
M4203
0
Cursor was set
1
Error code in W1022
W1022
September 2006
1
Incorrect line number
3
Incorrect string number
20
Module was not called in a spawn job or submit job
30
Incorrect column name
35
PLC editor is not open (Module 9250)
Files
8 – 161
8.5.3 PLC Files With modules you can create PLC files and read or write in them line-by-line. PLC files are in ASCII format and are used, for example, for saving data specific to the PLC. Note The following modules must be called only in a submit job or spawn job. Module 9240 Open a file You can open up to eight files simultaneously. They are accessed from the process in which they were opened (submit job or spawn job). If you want to prevent the file from being opened in more than one process, use the “lock file” mode. To ensure adequate speed, use the “buffered” mode to read from and write to ASCII files. In this mode a part of the file is buffered in the main memory. This mode is not permitted for tables. When the process is ended (EM in the submit job or spawn job), all files opened for this process are closed. After the file is opened, Module 9240 always transfers a “file handle.” The file handle is a serial number that can be used to select this file again in other modules. To append data to an existing file, set bit 0=1 (reading and writing) and bit 2=0 (record oriented). Call: PS
PS CM PL
B/W/D/K Bit 0=0: Read only Bit 0=1: Read and write Bit 1=0: Do not lock file Bit 1=1: Lock file Bit 2=0: Record oriented (tables) Bit 2=1: Buffered (ASCII files) B/W/D/K/S Complete path and file name 9240 D Number for use in other modules -1: Error code in W1022
Error recognition: Marker
Value
Meaning
M4203
0
File was opened
1
Error code in W1022
W1022
8 – 162
1
Impermissible mode
3
Incorrect string number
7
File could not be opened
20
Module was not called in a submit job or spawn job
HEIDENHAIN Technical Manual iTNC 530
Module 9241 Close a file With this module you close a file that has been opened with Module 9240. You must close the file in the process (submit job or spawn job) in which you opened it. Call: PS
D
CM
9241
Number from Module 9240
Error recognition: Marker M4203 W1022
September 2006
Value
Meaning
0
File was closed
1
Error code in W1022
2
Incorrect file handle
20
Module was not called in a submit job or spawn job
Files
8 – 163
Module 9242 Positioning in a file With this module you change the position of the cursor in a file opened with Module 9240. The new position is provided as the result from Module 9242. If the file was opened in the “record oriented” mode (tables), the cursor is positioned line by line. If the file was opened in the “buffered” mode, the cursor is positioned character by character. If you indicate a position before the beginning or after the end of the file, the cursor is positioned at the beginning or end of the file, respectively. The addressing of the new position is relative to the beginning or end of the file, or to the current position. You can interrogate the current position by transferring the position value zero relative to the current position. Call only in a submit job or spawn job. Call: PS PS PS
CM PL
D
Number from Module 9240 B/W/D/K B/W/D/K 0: Position relative to the file beginning 1: Position relative to the current position 2: Position relative to the file end 9242 B/W/D/K -1: Error code in W1022
Error recognition: Marker
Value
Meaning
M4203
0
Cursor was positioned
1
Error code in W1022
W1022
8 – 164
1
Impermissible mode
2
Incorrect file handle
7
File system error
20
Module was not called in a spawn job or submit job
HEIDENHAIN Technical Manual iTNC 530
Module 9243 Read from a file line by line To read from a table, use Module 9245. Open the file with Module 9240. With Module 9243 you read line-by-line from an ASCII file. The “buffered” mode provides faster access times. The result is saved in a string. The module reads up to the line break (LF); 126 characters at most. Call: PS PS CM PL
D
Number from Module 9240 B/W/D/K 9243 B/W/D >0: Line has been read 0: File end has been reached -1: Error code in W1022
Error recognition: Marker
Value
Meaning
M4203
0
Line was read
1
Error code in W1022
W1022
September 2006
2
Incorrect file handle
3
Incorrect string number
7
File system error
20
Module was not called in a spawn job or submit job
Files
8 – 165
Module 9244 Write to a file line by line To write to a table, use Module 9246. With Module 9244 you write line-by-line to an ASCII file. Open the file with Module 9240. If file is opened in “buffered” mode: Processing time is shorter. Files are saved to the hard disk only if more than 512 bytes are overwritten in several calls, or if the file is closed. The amount of data specified in the transfer string is overwritten. If file is opened in “record oriented” mode: Processing time is longer. The data is immediately saved to the hard disk. Exactly one line is overwritten. If there is a difference in length, the subsequent data is displaced by the difference. Call: PS PS CM PL
D
Number from Module 9240 B/W/D/K/S 9244 B/W/D -1: Error code in W1022
Error recognition: Marker
Value
Meaning
M4203
0
Line was written
W1022
8 – 166
1
Error code in W1022
2
Incorrect file handle
3
Incorrect string number
7
File system error
20
Module was not called in a spawn job or submit job
HEIDENHAIN Technical Manual iTNC 530
8.6 Pallet Management Configuring a pallet table
The pallet table is a “freely definable table”: 8
Define the prototype in the directory PLC:\PROTO with the file name extension .P.
8
Create the prototype. (See “Freely Definable Tables” on page 8 – 152)
If you have more than one prototype with the file name extension .P, a menu for format selection will appear when you create a pallet table. Your PLC program must be adapted to the various formats. The COPY SAMPLE FILES soft key copies prototypes for the pallet tables into the directory PLC:\PROTO. The appropriate prototypes are offered when you create a new pallet table. If you do not want this to happen, delete unnecessary prototypes from the PLC:\PROTO directory. Then only existing prototypes are displayed. PROTOTYP.P = Standard prototype (PAL/PGM, NAME, DATUM, X, Y, Z) PROTO_TO.P = Prototype for tool-oriented machining PROTOPR.P = Standard prototype for preset tables (as of 340 422-01) PRO_TOPR.P = Prototype for tool-oriented machining with preset tables (as of 340 422-01) Field names
The following types of fields are used in the pallet table: Mandatory fields: Values must be entered. Optional fields: Values can be entered. They have a fixed, predefined meaning for the NC. Freely definable fields: You can display additional fields. The names and meaning are defined as desired. The entries are for information, or you can interrogate and change them through the PLC.
Name
Type of machining
Meaning
PAL/PGM
Workpieceoriented/tooloriented
Mandatory field: Definition of the entry
W-STATUS
Tool-oriented
PAL = Pallet PGM = NC program FIX = Fixture (only tool-oriented) Optional field: Machining status BLANK = Workpiece blank ENDED = Machining complete INCOMPLETE = Machining not complete
METHOD
Tool-oriented
Mandatory field: Type of machining TO = Tool-oriented WPO = Workpiece-oriented CTO = Tool-oriented for several entries
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Pallet Management
8 – 167
Name
Type of machining
Meaning
NAME
Workpieceoriented/tooloriented
Mandatory field: Name of the pallet or the NC program. NC program names without paths are searched for in the directory with the pallet file. Permit only decimal numbers, so that you can interrogate the pallet’s name in the change macro with FN18: SYSREAD.
Workpieceoriented/tooloriented
Optional field: Name of the datum table
Workpieceoriented/tooloriented
Optional fields: Definition of the datuma
PRESET
Workpieceoriented/tooloriented
Optional field: Definition of the preset by entering a number from the preset table (as of 340 422-01)a.
SP-X, SP-Y, SP-Z
Tool-oriented
Optional fields: Safe positions; with FN18: SYSREAD, these positions can be read in NC macros.
CTID
Tool-oriented
If—due to a tool change—an NC program must be stopped during tool-oriented machining, the iTNC enters a code. This code enables the iTNC to resume the machining process at the position where it has been stopped.
LOCATION
Workpieceoriented/tooloriented
Optional field (not used in standard format): Location of pallet.
Workpieceoriented/tooloriented
Optional field: Lines containing any entry in this column will not be run.
Workpieceoriented/tooloriented
Freely definable
DATUM
X, Y, Z, U, V, W, A, B, C
LOCK
Any names
Datum tables without paths are searched for in the directory with the pallet tables.
In standard format only the columns X, Y and Z are used.
If the LOCATION column is used, an NC program can be run only if this column contains the entry MA (= pallet for the machine).
If more than one program or pallet is to be run, the next permitted line is used. Unlocked lines in a locked pallet are also skipped.
a. For pallet entries the values refer to the machine datum (MP960.x). For NC programs the values refer to the pallet reference point.
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HEIDENHAIN Technical Manual iTNC 530
Executing a pallet table
The pallet table is selected and started with PGM MGT like a normal part program in the Program Run, Single Block and Program Run, Full Sequence operating modes. Pallet entries (PAL) and fixture entries (FIX) result in a call for an NC macro. Program entries (PGM) are run like a PGM CALL. 8
With MP7683 bit 6, specify if the NC program and the pallet table should appear simultaneously in the split screen, or if the active NC program or active pallet table should be shown individually.
8
With MP7683 bits 0 to 2 and bit 8, specify the operating sequence following an NC start.
8
With MP7683 bit 3, specify the operating sequence upon reaching the end of the pallet table.
8
Determine with MP7683 bit 4 whether the current pallet table should be editable with the EDIT PALLET soft key in the Program Run, Single Block and Program Run, Full Sequence operating modes.
As soon as a pallet table is selected, M4160 is set. Through the PLC you can graphically display the tool changer status in the PLC window and enable the user to control the tool changer through PLC soft keys. You can provide the user with excerpts from the pallet table for editing (see “Freely Definable Tables” on page 8 – 152). With Module 9035 you can interrogate the active line of the pallet file, and with Modules 9090 or 9281 you select a certain line in the pallet table. Unlike Module 9090, a datum shift or datum setting can be executed immediately with Module 9281. Example:
NR PAL/PGM 0 PAL 1 FIX 2 PGM 3 PGM 4 PAL 5 PGM 6 PGM [END]
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W-STATUS
METHOD
NAME 120
DATUM
X 0
BLANK BLANK
WPO TO
BLANK BLANK
TO CTO
PART1.H PART2.H 120120 0 130 NULL1.D 0 10 15 PART3.H 100100 100 PART3B.H
Pallet Management
Y 0
Z 0
SP-X SP-Y
SP-Z CTID 150 150
150
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Line 0: The pallet with the name 120 is defined. The NC macro for changing the pallet is activated. The active datum equals the machine datum. A clearance height was programmed. Line 1: A fixture is defined and a clearance height is specified. The NC macro for changing the fixture is active. Line 2: The fixture holds an unmachined part to be machined with NC program PART1.H (workpiece-oriented machining). Line 3: The fixture holds a second unmachined part to be machined with NC program PART2.H (tool-oriented machining). The active datum is offset from the pallet datum by the given values. Line 4: The pallet with the name 130 is defined. The NC macro for changing the pallet is activated. The active datum is offset from the machine datum by the given values. The datum table NULL1.D is active. Lines 5 and 6: The pallet holds two unmachined parts which are to be machined together in one setup with NC programs PART3.H and PART3B.H (tool-oriented machining). The active datum of the first part is offset from the pallet datum by the given values. Markers and machine parameters
Settings possibilities for markers and machine parameters
M4160
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Pallet table selected
Set
Reset
NC
NC
HEIDENHAIN Technical Manual iTNC 530
MP7683 Format: Input:
Executing pallet tables and NC programs %xxxxx Bit 0 – PROGRAM RUN, SINGLE BLOCK operating mode: 0: During the start, a line of the NC program is run. The pallet change macro is executed completely. 1: During the start, a complete NC program is run. Bit 1 – PROGRAM RUN, FULL SEQUENCE operating mode: 0: During the start, a complete NC program is run. 1: At the start all NC programs are executed up to next pallet. Bit 2 – PROGRAM RUN, FULL SEQUENCE operating mode: 0: As defined in bit 1 1: All NC programs and pallets up to the end of the table are executed. Bit 3 – When the end of the table is reached, the process begins again with the first line. 0: Function is not in effect 1: Function is effective (bit 2=1) Bit 4 – Editing the active pallet table 0: Active pallet table cannot be edited. 1: The active pallet can be edited in the PROGRAM RUN, FULL SEQUENCE and PROGRAM RUN, SINGLE BLOCK modes. Bit 6 – Display of pallet table and NC program 0: Both simultaneously in a split screen 1: Pallet table or NC program individually Bit 7 – AUTOSTART function 0: AUTOSTART by the NC 1: AUTOSTART by the PLC Bit 8 – Procedure for tool-oriented machining in the Program Run operating modes 0: NC start machines all workpieces on the pallet until the next tool change 1: NC start executes all NC programs until the end of the pallet
Module 9090 Select a line in the pallet table With this module, you set the cursor on a particular line of the pallet table that you selected in the program run mode. If the iTNC is in another mode, the selection will be made when the control returns to the Program Run, Single Block or Program Run, Full Sequence operating mode. The selection is possible only as long as no pallet file has been started. Call only in a submit job or spawn job. Call: PS CM PL
September 2006
B/W/D/K 9090 B/W/D 0: No error, line was selected 1: Module was not called in a spawn job or submit job 2: Call during running NC program 3: No pallet table selected in full sequence 4: Line does not exist
Pallet Management
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Module 9281 Select a line in the pallet table With this module you set the cursor on a particular line of the pallet table that you selected in the Program Run, Single Block or Program Run, Full Sequence operating mode. Datum shift and datum setting can be run immediately. If the iTNC is in another mode, the selection will be made when the control returns to the Program Run, Single Block or Program Run, Full Sequence operating mode. Call: PS PS
CM PL
8 – 172
B/W/D/K B/W/D/K Bit 0 – 0: Do not run datum shift or set the datum 1: Run the datum shift/set the datum immediately Bit 1 – Shift the datum/set the datum 0: Do not run if the line is disabled by an entry in the LOCK column 1: Run even if the line is disabled by an entry in the LOCK column 9281 B/W/D 0: No error, line was selected 1: Module was not called in a spawn job or submit job 2: Call during running program 3: No pallet table selected in full sequence 4: Line does not exist 5: Error during datum setting, in the datum table or pallet table
HEIDENHAIN Technical Manual iTNC 530
NC macro for changing the tool during tooloriented machining
A special tool-change macro is required for tool-oriented pallet machining. This is defined through the keyword TCTOOLMODE= in NCMACRO.SYS. This specific NC macro is called for tool oriented machining instead of the standard tool-change macro. The macro must perform the following functions: Positioning to clearance height Execution of M146 Tool change through TOOL CALL. The standard tool-change macro is called. With FN18: SYSREAD Qxxx = ID510 NR5 or NR6 IDX you can find whether a clearance height has been programmed for an axis, and if so, the value specified for the clearance height in the NC macro. With the M function M146 the current geometry information is saved in a temporary file. This information is required for continuing NC program run after an interruption due to a TOOL CALL during tool-oriented machining. In addition, a code is entered in the CTID column and the entry in W-STATE is changed to INCOMPLETE, if required. A simple example of an NC macro for tool changing with tool-oriented machining: 0 1 2 3 4 5 6 7 8 9 10
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BEGIN PGM TOchange MM L Z–32 R0 FMAX M91 FN 18: SYSREAD Q1 = ID60 FN 18: SYSREAD Q2 = ID60 FN 18: SYSREAD Q3 = ID60 FN 18: SYSREAD Q4 = ID60 FN 18: SYSREAD Q5 = ID60 FN 18: SYSREAD Q6 = ID60 M146 TOOL CALL Q1 Z SQ3 DL+Q4 END PGM TOchange MM
NR1 NR2 NR3 NR4 NR5 NR6 DR+Q5 DR2:+Q6
Pallet Management
8 – 173
NC macro for changing pallets and fixtures
8
In NCMACRO.SYS, use the entry PALETT= to define the complete path and name of the NC macro that is to be called when a pallet entry (PAL) is run.
8
In NCMACRO.SYS, use the entry CLAMP= to define the complete path and name of the NC macro that is to be called when a fixture entry (FIX) is run.
In these macros you can request the current line or pallet name with FN18: SYSREAD Qxxx = ID510 NR1 or NR2, respectively. This NC macro also can be started from the PLC with Module 9280. To synchronize the current machine status and the look-ahead calculation with an NC macro call, see “NCMACRO.SYS” on page 9 – 30. A simple example of an NC macro for changing fixtures: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26
8 – 174
BEGIN PGM TOclamp MM FN 18: SYSREAD Q1 = ID510 NR5 IDX1 FN 18: SYSREAD Q2 = ID510 NR5 IDX2 FN 18: SYSREAD Q3 = ID510 NR5 IDX3 FN 18: SYSREAD Q4 = ID510 NR5 IDX4 FN 18: SYSREAD Q5 = ID510 NR5 IDX5 FN 9: IF +Q3 EQU +0 GOTO LBL 1 FN 18: SYSREAD Q13 = ID510 NR6 IDX3 L Z+Q13 R0 FMAX LBL 1 FN 9: IF +Q1 EQU +0 GOTO LBL 2 FN 18: SYSREAD Q11 = ID510 NR6 IDX1 L X+Q11 R0 FMAX LBL 2 FN 9: IF +Q2 EQU +0 GOTO LBL 3 FN 18: SYSREAD Q12 = ID510 NR6 IDX2 L Y+Q12 R0 FMAX LBL 3 FN 9: IF +Q4 EQU +0 GOTO LBL 4 FN 18: SYSREAD Q14 = ID510 NR6 IDX4 L C+Q14 R0 FMAX LBL 4 FN 9: IF +Q5 EQU +0 GOTO LBL 5 FN 18: SYSREAD Q15 = ID510 NR6 IDX5 L B+Q15 R0 FMAX LBL 5 END PGM TOclamp MM
HEIDENHAIN Technical Manual iTNC 530
Module 9280 Start the NC macro (Run pallet entry) The NC macro must be defined in NCMACRO.SYS with the entry PALETT =. It can only be activated if the control is in the Program Run, Single Block or Program Run, Full Sequence operating mode, a pallet table is selected, and no macro or NC program is running. Call: PS PS CM
B/W/D/K B/W/D/K 9280
Error recognition:
NC macro at the end of an NC program
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
7
The file entered in the entry PALETT= does not exist
8
Control is not in the SINGLE BLOCK or FULL SEQUENCE mode
20
Module was not called in a spawn job or submit job
28
An NC program or NC macro is running
8
29
Selected file is invalid or does not exist
30
There is no PALETT= entry in the NCMACRO.SYS file
36
NCMACRO.SYS does not exist
In NCMACRO.SYS, use the entry PALEPILOG= to define the complete path and name of the NC macro that is to be called at the end of an NC program that was started from the pallet table.
To synchronize the current machine status and the look-ahead calculation with an NC macro call, see “NCMACRO.SYS” on page 9 – 30.
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Pallet Management
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8.7 Electronic Handwheel The following handwheels can be connected with HEIDENHAIN controls: One panel-mounted HR 130 handwheel, or Three HR 150 panel-mounted handwheels via the HRA 110 handwheel adapter, or One HR 410 portable handwheel or One HR 420 portable handwheel with display For information on the operation of the electronic handwheel, see the User’s Manual. 8
In MP7640, enter the type of handwheel connected to the control. If you enter a value greater than zero and no handwheel is connected, the error message HANDWHEEL? appears.
8
If you use more than one handwheel together with the HRA 110 handwheel adapter, enter in MP7650 for each axis the counting direction of the individual handwheels. If you use only one handwheel, enter the counting direction in bit 0.
Shock or vibrations can cause a slight motion at the handwheel and produce an unintentional axis movement. In this case: 8
Enter a threshold sensitivity in MP7660.
With W1062 you can disable the handwheel pulses for specific axes, if more than one handwheel is used in connection with the HRA 110 handwheel adapter. If the marker M4576 is set, all axes are disabled. If it is reset, W1062 applies. If only one handwheel is used, a selectable axis can be disabled with W1062. The interpolation factor specifies the traverse per handwheel revolution:
8 – 176
8
For the HR 130, HRA 110 or HR 410, choose the HANDWHEEL operating mode and enter an interpolation factor for each handwheel. To ensure that the rapid traverse rates specified in MP1010.x are not exceeded, the smallest possible input step is preset by the control.
8
For the HR 130, HRA 110 or HR 410, with MP7641 you specify whether the interpolation factor is entered directly through the TNC keyboard or via PLC Module 9036.
Interpolation factor
Traverse distance Effective beginning from rapid per revolution [mm] traverse: MP1010.x [mm/min]
0
20
12 000
1
10
6 000
2
5
3 000
3
2.5
1 500
4
1.25
750
5
0.625
80
6
0.312
80
7
0.156
80
8
0.078
80
9
0.039
80
10
0.019
80
HEIDENHAIN Technical Manual iTNC 530
You can choose a larger input step for the traverse distance per rotation than that calculated by the NC: 8
In MP7670.x, enter an interpolation factor.
8
In MP7645.x, enter an initialization parameter for the handwheel.
The two machine parameters are evaluated by the HRA 110 or HR 410, but not by the HR 420. MP7640 Input:
Handwheel 0: No handwheel 1: Reserved 2: HR 130 3: Reserved 4: Reserved 5: Up to three HR 150 via HRA 110 6: HR 410 7 to 10: Reserved 11: HR 420
MP7641 Input:
Handwheel settings Bit 0 – HR 410: Entry of interpolation factor 0: Through iTNC keyboard 1: Through PLC Module 9036
MP7650 Input:
Handwheel counting direction for each axis Bits 0 to 13 represent axes 1 to 14 0: Negative counting direction 1: Positive counting direction
MP7660 Input:
Threshold sensitivity for electronic handwheel 0 to 65 535 [increments]
MP7670 Input: MP7670.0 MP7670.1 MP7670.2
Interpolation factor for handwheel 0 to 10 Interpolation factor for low speed Interpolation factor for medium speed (only HR 410) Interpolation factor for high speed (only HR 410)
M4576 W1062
Locking the handwheel PLC Lock the handwheel for specific axes PLC
Set
September 2006
Electronic Handwheel
Reset PLC PLC
8 – 177
Module 9036 Writing status information Prerequisite: MP7641 = 1 The information to be overwritten is designated with a transferred number. Handwheel interpolation factors are limited to a smallest possible value, depending on the rapid traverse rate of the respective axis. CAUTION: No error message! Number
Function
Value
0
Handwheel interpolation key X
0 to 10
1
Handwheel interpolation key Y
0 to 10
2
Handwheel interpolation key Z
0 to 10
3
Handwheel interpolation key IV (MP410.3)
0 to 10
4
Handwheel interpolation key V (MP410.4)
0 to 10
5
Handwheel interpolation of all axes
0 to 10
6
Select the handwheel axis (not for HRA 110) 0 to 8 axes 1 to 9
10
See ”Incremental Jog Positioning”
11
Handwheel interpolation of axis 1
0 to 10
12
Handwheel interpolation of axis 2
0 to 10
13
Handwheel interpolation of axis 3
0 to 10
14
Handwheel interpolation of axis 4
0 to 10
15
Handwheel interpolation of axis 5
0 to 10
16
Handwheel interpolation of axis 6
0 to 10
17
Handwheel interpolation of axis 7
0 to 10
18
Handwheel interpolation of axis 8
0 to 10
19
Handwheel interpolation of axis 9
0 to 10
Call: PS PS CM PL
B/W/D/K B/W/D/K 9036 B/W/D 0: Status written 1: Incorrect status code 2: Transferred value out of range 3: Input disabled
Error recognition: Marker
Value
Meaning
M4203
0
Status information was written
1
Error code in W1022
1
Transferred value out of range
2
Incorrect number of the status information
6
Input disabled
W1022
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HEIDENHAIN Technical Manual iTNC 530
8.7.1 HR 130 Panel-Mounted Handwheel 8
Enter MP7640 = 2 (HR 130)
When the axis keys are pressed, the associated cursor and the handwheel symbol are displayed simultaneously. 8.7.2 HR 410 Portable Handwheel 8
Enter MP7640 = 6 (HR 410)
8
In MP7645, specify whether the keys on the handwheel are to be evaluated by the NC or PLC.
Evaluation of the keys by NC: MP7645.0 = 0
X
IV
Y
V
Z Feed rate slow
Feed rate medium
– O109 I173
Feed rate fast
+ O110 I174
O111 I175
With the exception of the function keys A, B and C, all keys are evaluated by the NC.
September 2006
8
With MP7670.x, select the interpolation factors for low, medium and high speed.
8
With MP7671.x, define the values for low, medium and high speed. The speed is entered as a percentage of the manual feed rate (MP1020.x).
Electronic Handwheel
8 – 179
Evaluation of the keys by PLC: MP7645.0 = 1
O96 I160
O97 I161
O98 I162
O99 I163
O100 I164
O103 I167
O104 I168
O105 I169
I171
O109 I173
O106 I170
I172
O110 I174
O111 I175
All keys are evaluated by the PLC. Module 9036 sets the handwheel axis and handwheel interpolation. With W766 you can influence the feed rate by pressing the direction keys. Window upon activation of the HR 420 When the HR 420 is activated, a pop-up window appears on the iTNC, indicating that the HR 420 has assumed control. This window is a special popup window. The text color is defined in MP7366.1, and the window background color in MP7350.
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HEIDENHAIN Technical Manual iTNC 530
MP7645
Initializing parameter for handwheel. If an HR 410 is installed, MP7645.0 has the following meaning: MP7645.0 Layout of the handwheel keypad for HR 410 Input: 0: Evaluation of the keys by NC, including LEDs 1: Evaluation of the keys via the PLC MP7645.1–7 No function MP7670 Input: MP7670.0 MP7670.1 MP7670.2
Interpolation factor for handwheel 0 to 10 Interpolation factor for low speed Interpolation factor for medium speed (only HR 410) Interpolation factor for high speed (only HR 410)
MP7671
Handwheel feed rate in the Handwheel operating mode with HR 410 0 to 1000 [% of MP1020] Slow speed Medium speed (only HR 410) Fast speed (only HR 410)
Input: MP7671.0 MP7671.1 MP7671.2 8.7.3 HR 420 Portable Handwheel Settings
8
Enter MP7640 = 11 (HR 420)
8
In MP7641, specify whether you are using an HR 420 with or without detent, and whether the keys on the handwheel are to be evaluated by the NC or PLC.
Information about MP7641: Bit 2 • Bit 2 = 0: If the HR 420 assumes control, then W1046 (Manual traverse in positive direction), W1048 (Manual traverse in negative direction), W1050 (Incremental jog positioning in positive direction), W1052 (Incremental jog positioning in negative direction) and M4561 (Rapid traverse) have no effect. Only the keys on the HR 420 are valid. • Bit 2 = 1: The direction keys and the rapid-traverse key of the HR 420 must be evaluated by the PLC. For safety reasons, once the HR 420 has assumed control, key entries should only be possible from the HR 420 (M4660). Bit 3 • Bit 3 = 0: M4564 (NC start) has no affect once the HR 420 assumes control. Only the NC start from the HR 420 is valid. An NC stop is performed via the corresponding key on the HR 420 or via M4560 (NC stop). • Bit 3 = 1: The NC start and NC stop keys of the HR 420 must be evaluated by the PLC. For safety reasons, NC start should only be activatable from the HR 420 once it has assumed control (M4660). Spindle start and spindle stop must always be conducted by the PLC.
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Electronic Handwheel
8 – 181
All keys are evaluated by the NC. Certain keys are described in markers.
F1
F2
F3
F4
F5
X
Y
Z
IV
V
↑
Handwheel active/ inactive
↓
(M4667)
Rapid traverse (M4663)
(M4666)
Spindle start (M4664)
Actual value capture
NC start (M4661)
Spindle stop (M4665)
Ctrl (M4668)
NC stop (M4662)
–
Activation and override potentiometers
+
If the HR 420 is activated (via the handwheel key on the HR), a small pop-up window appears on the screen of the iTNC and entries via the keys (keyboard and horizontal soft keys) are disabled. However, the override potentiometers of the keyboard remain active. If the override potentiometers of the handwheel are to become active, then this can only be done with the + key combination on the HR 420. If this key combination is pressed, then a selection menu appears on the handwheel, in which the potentiometers to be activated must be selected. Display: Handwheel/ Operating panel Soft keys on the handwheel: • Soft key F1: HW (potentiometers on the handwheel become active) • Soft key F2: KBD (potentiometers on the operating panel become active)
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HEIDENHAIN Technical Manual iTNC 530
If the override potentiometers on the handwheel are switched active, then the message Handwheel override active also appears in the pop-up window on the screen of the iTNC, and the handwheel can only be deactivated if the control of the override potentiometers is returned to the operating panel. If you try to deactivate the HR 420 while it has control over the override, then a window appears requesting that you first deactivate the handwheel’s control over the override. Danger Please note that the feed rate or spindle speed set becomes higher or lower depending on the potentiometer setting. The override factor of the active override potentiometer can also be influenced with M764 or W766.
MP7641 Input:
M4660 M4661 M4662 M4663 M4664 M4665 M4666 M4667 M4668 Free soft-key definition for HR 420
September 2006
Handwheel settings Bit 1 – HR 420: With detent positions 0: Without detent positions 1: With detent positions Bit 2 – HR 420: Axis direction keys and rapid traverse 0: Controlled by the NC 1: Controlled by the PLC Bit 3 – HR 420: NC start / NC stop 0: Controlled by the NC 1: Controlled by the PLC
HR 420 assumes control NC start on HR 420 NC stop on HR 420 Rapid traverse key on HR 420 Spindle start on HR 420 Spindle stop on HR 420 + key on HR 420 – key on HR 420 CTRL key on HR 420
Set
Reset
NC NC NC NC NC NC NC NC NC
NC NC NC NC NC NC NC NC NC
You will find information about the freely definable soft-key menu for the HR 420 under “Soft-Key Project File for Screen” on page 8 – 122.
Electronic Handwheel
8 – 183
8.7.4 HR 150 Panel-Mounted Handwheels with HRA 110 Handwheel Adapter 8
Enter MP7640 = 5 (HR 150 via HRA 110)
You can use the step switch S1 to choose the interpolation factor (see “HRA 110 Handwheel Adapter” on page 3 – 74). For this purpose you must evaluate the inputs I160 to I167 of the switch in the PLC and activate the corresponding interpolation factor with Module 9036. Axes X and Y are permanently assigned to the handwheel inputs X1 and X2. You can assign the third handwheel (input X3) to any other axis. All handwheel axes are indicated by the handwheel symbol. 8
Take the designation for axes IV and V from MP410.x.
8
In MP7645.2, specify how the axis for the third handwheel is selected. • Selection by axis selection switch (switch S2, see MP7645.0) • Selection permanently defined in MP7645.1
MP7645 MP7645.0
Initializing parameter for handwheel Assignment of a third handwheel via axis selector switch S2, when MP7645.2 = 0 Input: 0: Switch position 1 (at the left stop)3rd handwheel axis Z Position 23rd handwheel axis IV Position 33rd handwheel axis V 1: Switch position 1 (at the left stop)3rd handwheel axis X Switch position 23rd handwheel axis Y Position 33rd handwheel axis Z Position 43rd handwheel axis IV Position 53rd handwheel axis V 2: Position 33rd handwheel axis Z Position 43rd handwheel axis IV Position 53rd handwheel axis V MP7645.1 Fixed assignment of third handwheel if MP7645.2 = 1 Input: 1: Axis X 2: Axis Y 4: Axis Z 8: Axis IV (MP410.3) 16: Axis V (MP410.4) MP7645.2 Assignment of a third handwheel via axis selector switch or MP7645.1 Input: 0: Assignment by axis selection switch according to MP7645.0 1: Assignment by MP7645.1 MP7645.3–7 No function
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HEIDENHAIN Technical Manual iTNC 530
Assignment of switch positions to PLC inputs
The tables below list the assignments of switch positions of S1 and S2 to the PLC inputs I160 to I175. The two switches work with a 0 V logic circuit. Example: If switch S1 is in position 3, input I162 is logically 0, and the inputs I160, I161, I163 to I167 are logically 1. Step switch 1: Step switch for choosing the interpolation factor Switch position
PLC input
1 (at the left stop)
I160
2
I161
3
I162
4
I163
5
I164
6
I165
7
I166
8 (at the right stop)
I167
Step switch 2: Axis selection switch
September 2006
Switch position
PLC input
1 (at the left stop)
I168
2
I169
3
I170
4
I171
5
I172
6
I173
7
I174
8 (at the right stop)
I175
Electronic Handwheel
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8.8 PLC Inputs/Outputs The MC 42x(B) provides you with switching and analog inputs/outputs for the PLC. If the available number of I/O is not enough, you can add up to four PL 4xxB or PL 510 input/output units. MC 42x(B) X9
X41
X42
X48
Switching inputs 24 Vdc
–
–
56
–
Switching outputs 24 Vdc
–
31
–
–
Analog inputs 10 Vdc
–
–
–
3
Inputs for Pt 100 thermistors
–
–
–
3
Analog outputs 10 Vdc
12a)
–
–
–
Control-is-ready output
–
2
–
–
Control-is-ready input
–
–
2
–
a. You need one analog output for each analog axis. PL 4xxB PLC input/output unit
PL 510 PLC input/output unit
PL 410 B
PLD 16-8
PL 405 B
PLA 4-4
Switching inputs 24 Vdc
64
32
16
–
Switching outputs 24 Vdc
31
15
8
–
Analog inputs 10 Vdc
(4)
–
–
4
Inputs for Pt 100 thermistors
(4)
–
–
4
Analog outputs 10 Vdc
–
–
–
–
Control-is-ready output
1
1
(1)
–
Control-is-ready input
–
–
–
–
To interrogate and set the inputs and outputs of the PLC I/O unit you need PLC modules. PL assignment
8 – 186
Up to four PL PLC I/O units can be connected. The first PL is connected to the MC 42x(B), the second PL to the first PL, the third to the second, etc. The PLs are permanently assigned to specific inputs and outputs. If a PL is dropped, the assignment of the inputs and outputs to the PLs also changes. To avoid having to change your PLC, you can assign a logical PL (no. of the PL according to the assignment of I/O in the PLC program) to the physical PL (no. of the PL as seen by the MC 42x(B)).
HEIDENHAIN Technical Manual iTNC 530
Example:
MC 42x(B)
PL 1 I64 to I127 O32 to O62
PL 2 I192 to I255 O64 to O94
PL 3 I256 to I319 O128 to O158
PL 4 I320 to I383 O160 to O190
MC 42x(B)
PL 1 I64 to I127 O32 to O62
PL 3 I192 to I255 O64 to O94
PL 4 I256 to I319 O128 to O158
WARNING PLC program must be changed!
or MP4030.0 = 0 : 1st physical PL = 1st logical PL MP4030.1 = 2 : 2nd physical PL = 3rd logical PL MP4030.2 = 3 : 3rd physical PL = 4th logical PL
MC 42x(B)
MP4030 Input:
MP4030.0 MP4030.1 MP4030.2 MP4030.3
September 2006
PL 1 I64 to I127 O32 to O62
PL 3 I256 to I319 O128 to O158
PL 4 I320 to I383 O160 to O190
WARNING PLC program need not be changed!
Assignment of physical to logical PL 0: First logical PL 1: Second logical PL 2: Third logical PL 3: Fourth logical PL First physical PL Second physical PL Third physical PL Fourth physical PL
PLC Inputs/Outputs
8 – 187
Diagnosis of the PL
Module 9007 Diagnostic information of the PL 4xxB Module 9007 can ascertain diagnostic information of the PL 4xxB. To save computing time, refrain from repeatedly calling this module. Call: PS PS
CM PL
B/W/D/K B/W/D/K 0: Readiness 1: Supply voltage Bit 0: Logic voltages 24 V and 5 V Bits 1 to 4: 24 V for X11 to X14 Bit 5: 24 V for analog inputs 2: Analog inputs used 3: Total number of PLs on this MC 42x(B) 4: Further PLs on this PL 5: PL is a PL 410B 9007 B/W/D/K 0: Not available 1: Available 0 to 4: Number of PLs (PL 4xxB and PL 510)
Error recognition:
8 – 188
Marker
Value
Meaning
M4203
0
Diagnostic information was read
1
Error code in W1022
W1022
1
Invalid code
2
Invalid PL
24
Module was called in a spawn job or submit job
51
Function not possible or not a PL 4xxB
HEIDENHAIN Technical Manual iTNC 530
Module 9137 Diagnostic information of the PL 510 Module 9007 can ascertain diagnostic information of the PL 4xxB. To save computing time, refrain from repeatedly calling this module. Call: PS PS PS
CM PL
September 2006
B/W/D/K B/W/D/K B/W/D/K 0: Possible mode of operation 1: Active mode of operation 2: Basic module model 3: Reserved 4: Reserved 5: Status of the basic module 6: Module model in the slot 7: Reserved 8: Reserved 9: Status of the module in the slot 10: Logical status of the outputs of a PLD 16-8 11: Short-circuit of the outputs of a PLD 16-8 12: Number of connected PL 510 9137 W/D Information no. 0: 0: “PL 510” operating mode not possible (only “PL 4xxB” operating mode, without new functions of the PL 510) 1: “PL 510” operating mode possible Information no. 1: 0: “PL 4xxB” operating mode active (without new functions of the PL 510) 1: “PL 510” operating mode active Information no. 2: 0: No PLB 510 1: PLB 510 Information no. 5: Bit 0=1: Power supply of the PLB 510 is OK Bits 1 to 15: Reserved Information no. 6: 0: No module in the slot 1: Reserved 2: PLD 16-8 in the slot 3: PLA 4-4 in the slot Information no. 9: PLD 16-8: Bit 0=1: Power supply outputs 0 to 3 are OK Bit 1=1: Power supply outputs 4 to 7 are OK Bit 2=1: Short circuit at an output Bit 3 = 1: At least one output idle (< 300 mA) Bits 4 to 6: No meaning Bit 7=1: Output 7 is a programmable output (otherwise “control is ready”) Bits 8 to 31: No meaning PLA 4-4: Bit 0=1: Power supply of the inputs is OK Bits 1 to 31: No meaning PLC Inputs/Outputs
8 – 189
Information no. 10: Bit 0: Status of output 0 (PLD 16-8) to Bit 7: Status of output 7 (PLD 16-8) Information no. 11: Bit 0: Short circuit at output 0 (PLD 16-8) to Bit 7: Short circuit at output 7 (PLD 16-8) Bit 8: Idle (< 300 mA) Out0 (PLD 16-8) to Bit 15: Idle (< 300 mA) Out7 (PLD 16-8) Error recognition: Marker
Value
Meaning
M4203
0
Diagnostic information was read
1
Error code in W1022
W1022
1
Invalid code
2
Invalid basic module number or slot number
24
Module was called in a spawn job or submit job
51
Function not possible or not a PL 510
Module 9139 Reset short-circuit monitoring of the outputs on the PLD 16-8 The short circuit of an output of the PLD 16-8 is shown by an LED and the output is reset. Short-circuit monitoring remains in place, and must therefore be reset with Module 9139. To save computing time, refrain from continuously calling this module. Call: PS
CM
B/W/D/K 0: Reserved 1: Reserved 2: Reset short-circuit monitoring 9139
Error recognition:
8 – 190
Marker
Value
Meaning
M4203
0
Short-circuit monitoring was reset
1
Error code in W1022
W1022
1
Invalid function
24
Module was called in a spawn job or submit job
51
Function not possible or not a PL 510
HEIDENHAIN Technical Manual iTNC 530
8.8.1 24 Vdc Switching Input/Outputs In PLC addresses you can find the current conditions of the switching inputs and outputs. For the current states of the inputs/outputs of the PLC: 8
Read all inputs with Module 9002,
8
or only certain inputs with Module 9008.
8
Update all outputs with Module 9005,
8
or only certain outputs with Module 9009.
With Module 9004 you can evaluate the rising or falling edge of the PLC inputs. Note Before the PLC program is converted, the PLC outputs are reset. In addition, the memory of the PLC outputs is reset. During a loss of power (power fail), the control tries to reset the PLC outputs. If all PLC outputs are switched off (e.g., during PLC program compilation or due to a PLC run-time error), the outputs that can not be switched off by an emergency stop can be switched off delayed by 250 ms. If all PLC outputs are switched off (e.g., during PLC program compilation or due to a PLC run-time error), the outputs defined in MP4060.x can be switched off delayed by the time defined in MP4061.x. The delay only affects outputs that cannot be switched off by emergency stop, since for the outputs that can be shut off by an emergency stop, the 24-V supply is shut off immediately. In X44 you define which outputs are to be switched off via an emergency stop (see “X44: PLC supply voltage” on page 3 – 34). MP4060.0-3 Outputs that are to be switched off with the delay from MP4061.x when all outputs are switched off Input: 0 to 30 -1: Do not switch off output with delay MP4061.0-3 Delay time for switching off the outputs in MP4060.x Input: 0 to 5.000 [s] Up until NC software 340 422-08 and 340 480-08, the switch-off delay is defined in the following machine parameters: MP4043 Input:
September 2006
Switch off outputs that cannot be switched off by emergency stop after 250-ms delay %xxxxxxxxxxxxxxxx Bits 0 to 15 correspond to O0 to O15 0: Do not switch off output with delay 1: Switch off output with delay
PLC Inputs/Outputs
8 – 191
MP4044
Switch off outputs that cannot be switched off by emergency stop after 250-ms delay %xxxxxxxx Bits 0 to 7 correspond to O16 to O23 0: Do not switch off output with delay 1: Switch off output with delay
Input:
MP4045
Switch off outputs that cannot be switched off by emergency stop after 250-ms delay %xxxxxxx Bits 0 to 6 correspond to O24 to O30 0: Do not switch off output with delay 1: Switch off output with delay
Input:
Module 9002 Reading all inputs of a PLC input/output unit In PLC addresses you can read the current states of the PLC input/output unit. The memory contents remain unchanged until you call this module or Module 9008. The module does not recognize whether a PLC input/output unit is actually connected. For the PL 510, inputs of empty sockets are not read. The program can be called only in the cyclic PLC program. Call: PS
CM
B/W/D/K 0: First PLC input/output unit 1: Second PLC input/output unit 2: Third PLC input/output unit 3: Fourth PLC input/output unit 9002
Error recognition: Marker
Value
Meaning
M4203
0
Inputs were read
1
Error code in W1022
W1022
8 – 192
2
Invalid PL number
24
Module was called in a spawn job or submit job
HEIDENHAIN Technical Manual iTNC 530
Module 9008 Read certain inputs of a PL 4xxB In PLC addresses you can read the current states of the PL 4xxB. The memory contents remain unchanged until you call this module or Module 9002. The module recognizes whether a PLC input/output unit is actually connected. The program can be called only in the cyclic PLC program. Call: PS
PS PS CM
B/W/D/K 0: First PL 4xxB 1: Second PLC input/output unit 2: Third PLC input/output unit 3: Fourth PLC input/output unit D/K D/K 9008
Error recognition: Marker
Value
Meaning
M4203
0
Inputs were read
W1022
1
Error code in W1022
2
Invalid PL number or PL not connected
24
Module was called in a spawn job or submit job
51
Function not possible or not a PL 510
Module 9005 Update all outputs of a PLC input/output unit Module 9005 overwrites the outputs of the PLC input/output unit with the values from the PLC addresses. The outputs are set or reset immediately at the time of module execution and remain in their state until they are set or reset again by this module or Module 9009. The module does not recognize whether a PLC input/output unit is actually connected. For the PL 510, the outputs of empty sockets are not overwritten with values from the PLC addresses. The program can be called only in the cyclic PLC program. Call: PS
CM
B/W/D/K 0: First PLC input/output unit 1: Second PLC input/output unit 2: Third PLC input/output unit 3: Fourth PLC input/output unit 9005
Error recognition: Marker
Value
Meaning
M4203
0
Outputs were set
1
Error code in W1022
2
Invalid PL number
24
Module was called in a spawn job or submit job
W1022
September 2006
PLC Inputs/Outputs
8 – 193
Module 9009 Update certain outputs of a PL 4xxB Module 9009 overwrites certain outputs of the PL 4xxB with the values from the PLC addresses. The outputs are set or reset immediately at the time of module execution and remain in their state until they are set or reset again by this module or Module 9005. The module recognizes whether a PL 4xxB is actually connected. The program can be called only in the cyclic PLC program. Call: PS
PS CM
B/W/D/K 0: First PLC input/output unit 1: Second PLC input/output unit 2: Third PLC input/output unit 3: Fourth PLC input/output unit D/K 9009
Error recognition: Marker
Value
Meaning
M4203
0
Outputs were set
1
Error code in W1022
2
Invalid PL number or PL not connected
24
Module was called in a spawn job or submit job
51
Function not possible or not a PL 510
W1022
Module 9004 Edges of PLC inputs With this module you set, upon falling or rising edges of the PLC inputs, specified end markers or bits in the specified byte range. Changes in the inputs are recognized only if a change also occurs in the PLC addresses (see Module 9002). Ensure that the specified edge markers or edge bytes are in an unoccupied area. The edge bytes are written beginning with the least significant bit. Superfluous bits are erased. Call: PS PS PS PS
B/W/D/K B/W/D/K B/W/D/K B/W/D/K
CM
9004
0: Rising edge. Entry in edge marker 1: Falling edge. Entry in edge marker 2: Rising edge. Entry in edge byte 3: Falling edge. Entry in edge byte
Error recognition:
8 – 194
Marker
Value
Meaning
M4203
0
No error
1
Invalid transfer parameter
HEIDENHAIN Technical Manual iTNC 530
8.8.2 Analog Inputs Socket X48 of the MC 42x(B) provides ±10-Vdc analog inputs and analog inputs for Pt 100 temperature resistors (see “Analog inputs” on page 3 – 54). There is also a version of the PL 4xxB with additional analog inputs, and the PL 510 can be fitted with PLA 4-4 analog modules (see “Overview of Components” on page 2 – 5). The temperatures measured by the Pt 100 thermistors are saved in the PLC words W486 to W490, and the values of the analog inputs are saved in the PLC words W480 to W484. Read the current states of the inputs with Module 9003.
W480-484 W486 - 490
September 2006
Analog input at X48 [0.1 V] For inputs 1 to 3 Temperature input at X48 [0.5 °C] For inputs 1 to 3
PLC Inputs/Outputs
Set
Reset
NC
NC
NC
NC
8 – 195
Module 9003 Read the analog input of the MC and of the PL 4xxB Module 9003 reads the current value of the specified analog input, regardless of whether it is actually connected. Value range ±10 Vdc input: –10 to +10, at a resolution of 10 mV –100 to +100, at a resolution of 100 mV Value range Pt 100 input:0 to 200, at a resolution of 0.5 °C 0 to 1000, at a resolution of 0.1 °C The module can only be called in the cyclic PLC program. Call: PS
CM PL
B/W/D/K 0 to 3: ±10 V inputs X15 to X18 on first PL 4xxB 4 to 7: Pt 100 inputs X19 to X22 on first PL 4xxB 8 to 11: ±10 V inputs X15 to X18 on second PL 4xxB 12 to 15: Pt 100 inputs X19 to X22 on second PL 4xxB 16 to 19: ±10 V inputs X15 to X18 on third PL 4xxB 20 to 23: Pt 100 inputs X19 to X22 on third PL 4xxB 24 to 27: ±10 V inputs X15 to X18 on fourth PL 4xxB 28 to 31: Pt 100 inputs X19 to X22 on fourth PL 4xxB 32 to 63: Reserved 64 to 66: ±10 Vdc input on connection X48 67 to 69: Pt 100 input on connection X48 9003 W/D Nr. 0 to 31: Natural number with the unit 0.1 V or 0.5 °C Nr. 64 to 69: Natural number with the unit 0.01 V or 0.1 °C
Error recognition: Marker
Value
Meaning
M4203
0
Input was read
1
Error code in W1022
2
Invalid PL number or invalid analog input number
24
Module was called in a spawn job or submit job
51
Function not possible or not a PL 510
W1022
8 – 196
HEIDENHAIN Technical Manual iTNC 530
Module 9138 Read analog input of the PL 510 Module 9138 reads the current value of the given analog input of the PL 510. Value range ±10 Vdc input:–1000 to +1000, at a resolution of 10 mV Value range Pt 100 input:0 to 10000, at a resolution of 0.01 °C To save computing time, refrain from repeatedly calling this module. The module can only be called in the cyclic PLC program. Call: PS PS PS CM PL
B/W/D/K B/W/D/K B/W/D/K 9138 B/W
Analog inputs 0 to 3: Natural number in steps of 0.01 V Analog inputs 4 to 7: Natural number in steps of 0.01 °C
Error recognition: Marker
Value
Meaning
M4203
0
Input was read
1
Error code in W1022
2
Invalid basic module number or slot number
24
Module was called in a spawn job or submit job
51
Function not possible or not a PL 510 or PLA 4-4 analog module
W1022
In the standard setting, the values of the Pt 100 inputs are taken over with a change rate of 1 K/s. The disadvantage here is that for large changes in temperature it can take a long time until the correct temperature reading is attained. For example, it would take 30 seconds to correctly read a temperature change of 30 K. An advantage of this, however, is a low sensitivity to disturbance: the temperature display will not jump back and forth between two values: 8
If you wish to work with a change rate of 1 K/s, set MP4020 bit 7 = 0.
8
If you wish to accept the values of the Pt 100 inputs immediately, set MP4020 bit 7 = 1.
MP4020 Format: Input:
September 2006
PLC compatibility %xxxxxxxx Bit 7: Transferring the values of the Pt 100 inputs 0: Accept values at a change rate of 1 K/s 1: Accept results immediately
PLC Inputs/Outputs
8 – 197
8.8.3 Analog Outputs You can drive analog outputs 1 to 12 at sockets X8 and X9. Note Every analog axis or analog spindle needs an analog output. These outputs are no longer available to the PLC. Module 9130 Output of an analog voltage With this module you place an analog voltage on an analog output. The voltage is output with a slight delay after the end of the PLC scan. Call the module only once for each output per PLC scan! Format: 1 mV Voltages greater than +10 V or less than –10 V are limited to the respective maximum value. Call: PS
PS CM
B/W/D/K 1 to 6: Analog outputs 1 to 6 (X8) 7 to 13: Analog outputs 7 to 13 (X9) B/W/D/K 9130
Error recognition:
8 – 198
Marker
Value
Meaning
M4203
0
Analog voltage was output
1
Error code in W1022
W1022
1
Invalid analog output
2
Disabled analog output
HEIDENHAIN Technical Manual iTNC 530
8.9 Incremental Jog Positioning 8
The “incremental jog positioning” function is switched on and off with the INCREMENT OFF/ON soft key.
8
To position with incremental jog, press the direction keys (W1046/W1048).
With marker M4579 you can interrogate the current state. With Module 9036 you can limit the jog increment. You can ascertain the current jog increment with Module 9035. With Module 9186 you can switch the incremental jog function on and off through the PLC.
M4579
INCREMENT OFF/ON soft key
Set
Reset
NC
NC
Module 9036 Writing status information The information to be overwritten is designated with a transferred number. Number of the Function status information 0 to 6
See “Handwheel”
10
Jog increment limiting
Value
0.0001 to 10 mm: Jog increment limiting –1; < –2; > 50: Cancellation of jog increment limitation and activation of the jog increment entered last –2: Cancellation of the jog increment limitation and activation of the minimum from the jog increment entered last and the last limitation
11 to 19 Call: PS PS CM PL
September 2006
See “Handwheel”
B/W/D/K B/W7D/K 9036 B/W/D 0: Status written 1: Incorrect status code 2: Transferred value is out of input range 3: Input disabled
Incremental Jog Positioning
8 – 199
Error recognition: Marker
Value
Meaning
M4203
0
Status information was written
1
Error code in W1022
1
Transferred value out of range
2
Incorrect number of the status information
6
Input disabled
W1022
Module 9035 Reading status information Call: PS B/W/D/K CM 9035 PL B/W/D Error recognition:
8 – 200
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
1
Status information invalid
20
Call was not in a submit or spawn job
HEIDENHAIN Technical Manual iTNC 530
8.10 Hirth Coupling Hirth coupling describes a type of clamping of rotary axes and swivel heads. Finely splined disks mesh together in order to create a rigid connection. During datum setting, the NC rounds off according to the grid spacing from MP430.x: 8
Configure the exact positioning in the Hirth grid as PLC positioning.
After positioning an axis with Hirth coupling, Module 9148 can use the nominal position value of the axis as its actual position value. This affects the actualvalue display and other internal calculations, such as for the transformation chain for tilting axes. MANUAL operating mode
As soon as an axis direction key is pressed, the NC resets the corresponding bit in W1026 (axis in position). 8
ELECTRONIC HANDWHEEL operating mode
As soon as the axis-in-position bit is set again, you check the nominal position with the Hirth grid and derive from it a PLC positioning command to the next grid point.
For the current handwheel axis, the corresponding bit is reset in W1026 (axis in position). As soon as you select another handwheel axis, “axis in position” is set for the previous axis. The Hirth axis can be positioned with the handwheel: 8
September 2006
Check the actual position with the Hirth grid and derive from it a PLC positioning to the next grid point.
Hirth Coupling
8 – 201
Controlled positioning
The positions of the Hirth axis must be programmed in the grid: 8
Check the positions in the PLC during the program run.
8
As soon as “axis in position” is reset, check the target position with the Hirth grid. • If the target position is not in the Hirth grid, output a PLC error message.
MP420.x Input:
Hirth coupling 0: No Hirth coupling 1: Hirth coupling
MP430.x Input:
Prescribed increment for Hirth coupling 0.0000 to 30.0000 [°]
Module 9148 Use nominal value as actual value With Module 9148 you can use the nominal value as actual value for selected axes when the position loop is open. This makes it possible to use the nominal value for certain internal functions such as the actual value display and calculations such as transformation chains of tilting axes. Call: PS PS CM
B/W/D/K Bits 0 to 13 represent axes 1 to 14 B/W/D/K 0: Use nominal value as actual value 9148
Error recognition:
8 – 202
Marker
Value
Meaning
M4203
0
Nominal value used as actual value
1
Error code in W1022
W1022
1
Invalid mode
2
Invalid axes
24
Module was called in a spawn job or submit job
HEIDENHAIN Technical Manual iTNC 530
8.11 Datum Shift With the datum shift function you can offset the defined datum point. The same initial position must apply for the description of the machine’s geometry (see “Tilting Axes” on page 6 – 55) and for the datum shift. You can activate the datum shift during an M/S/T/Q strobe. Datum shift with D528 to D544
8
In D528 to D544, enter for each axis the distance by which the datum is to be shifted, or use Module 9230. For axes 6 to 9, use only Module 9230.
8
Activate the datum shift with M4132. After the datum shift the NC resets M4132.
The offset is calculated into the position display — the display now shows the position values according to the shifted coordinate system. Example: Actual value display for X axis without datum shift = 50 Shift value in D528 = +20 M4132 is set, i.e. the offset is active New actual value display X = +70 (the old datum receives the value 20). Set D528 - 544 Datum shift for axis 1 to 5 PLC M4132 Activate datum shift from D528 to D544, PLC or call Module 9230
Reset PLC NC
Module 9230 Datum shift With this module you transfer the axis and the amount by which the datum is to be shifted. M4132 is set when Module 9230 is called. After execution of the datum shift, the NC resets M4132. Call: PS PS CM
B/W/D/K B/W/D/K 9230
Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
No errors
1
Error code in W1022
W1022
2
Invalid axis number
21
Missing strobe or control is active
24
Module was called in a spawn job or submit job
Datum Shift
8 – 203
8.12 Touch Probe The following touch probes can be connected: TS 120, TS 220: Touch-trigger probe with cable connection for workpiece setup and measuring during machining TS 440, TS 640: Touch-trigger probe with infrared transmission for workpiece setup and measurement during machining TT 130: Touch-trigger probe for tool measurement 8
Specify in MP6010 which touch probe is connected.
8
Make sure that the spindle is locked during the measuring process.
With FN18: SYSREAD you can read the current touch probe data. MP6010 Input:
Selection of the touch probe 0: Touch probe with cable transmission (TS 120, TS 220) 1: Touch probe with infrared transmission (TS 632) 2: Touch probe with infrared transmission (TS 440, TS 640)
8.12.1 Using the Touch Probes TS 440, TS 640
The TS 440 and TS 640 touch probes are activated on the rising edge of the starting signal and deactivated on the falling edge. For safety reasons, the touch probes are automatically switched off after 30 minutes of no activity (no stylus deflection). HEIDENHAIN recommends: 8
Set M4056 as soon as the touch probe is in the spindle. This way the touch probe is switched on via the rising edge of the start signal.
8
Reset M4056 in order to switch the touch probe off. The touch probe is switched off via the falling edge of the start signal.
As long as M4056 is set, the NC checks the ready signal of the touch probe, and automatically triggers it anew as soon as it switches itself off. This ensures that the touch probe is switched on as long as it is within the working space. If it is not possible to keep the touch probe ready, positioning motions in the Manual and Handwheel modes of operation are interrupted with the Probe system not ready error message. After acknowledging the error message with the CE key, the touch probe can be freely traversed for 60 seconds in the Manual mode of operation. The error message then appears again. Warning Touch-probe monitoring is not active as long as the touch probe does not report that it is ready. If, in an exceptional case, the touch probe must be triggered anew during a probing cycle, the Probe system not ready error message appears, and the cycle must be restarted from the beginning. Note The iTNC 530 always emits a start signal when beginning a touch probe cycle, meaning Modules 9135 and 9136 do not need to be used for HEIDENHAIN touch probes. 8 – 204
HEIDENHAIN Technical Manual iTNC 530
If M4056 is set and the stylus is deflected, the NC stops the machine in all operating modes. The maximum feed rate is limited to the value specified in MP6150. If M4056 is set and the touch probe does not provide a ready signal, the feed-rate enabling is reset. If you do not set M4056, the control detects a deflection of the stylus only if a probing function has been started. Before the probing process is started, the NC sets M4055. Before executing the function, the NC waits until you reset M4055. This allows you to take a break, for example, to clean the measured object with compressed air before starting the probing process. M4051 is set if the stylus is deflected before the probe block has been started. If it is, the probing block start is delayed by 1 second The NC takes over control of the probing process. Certain conditions are indicated in M4050 to M4054.
M4050 M4051 M4052 M4053 M4054
M4055 M4056 M4057
Touch probe not ready, ready signal is missing Stylus deflected before start of probing cycle Stylus is deflected, probing process is completed Probing process has been completed or canceled Battery voltage too low (battery warning at touch probe connection); evaluated only during the probing processa Enable the probing process NC stop in all operating modes if stylus is deflected Touch probe cycles active (FN17: ID990 NR2)
Set
Reset
NC
NC
NC
NC
NC
PLC
NC
NC
NC
NC
NC PLC
PLC PLC
NC
NC
a. Is not supported as of 340 422-03 and 340 480-03, since the warning by the NC suffices
September 2006
Touch Probe
8 – 205
Non-HEIDENHAIN touch probes
Module 9135 Switch on 3-D touch probe With Module 9135 you can switch on or retrigger certain 3-D touch probes. If the touch probe is already switched on, the module call has no effect. If M4056 is set and the touch probe does not provide a ready signal, the feedrate enabling (M4563) is reset. Call: CM
9135
Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Error in module run
Module 9136 Switching the touch probe on/off Module 9136 switches a touch probe at X12 on or off once. If the touch probe does not supply a ready signal, and if M4056 is set (NC stop for deflected touch probe in all operating modes), the feed-rate enable is reset. After Module 9136 is called the first time, the NC does not output any more on/off signals, meaning that the touch probe is now solely controlled by the PLC program. Call: PS
CM
B/W/D/K 0: Switch off touch probe 1: Switch on touch probe 9136
Error recognition: Marker
Value
Meaning
M4203
0
Touch probe on or off
1
Error code in W1022
1
Invalid touch probe state
W1022 8.12.2 Touch Probe Cycles
The probing cycles are available in the Manual and Electronic Handwheel modes and in the NC program (see the Touch Probe Cycles User’s Manual). 8
With the machine parameters, adjust the touch probe to the measuring conditions.
8
With MP6165, you can specify if during manual measurement and in the touch probe cycles 0 and 1 the touch probe with infrared transmission is oriented so that it is always deflected in the same direction.
8
With MP6166 you can set whether the probing direction is transformed in the rotated plane in the manual measuring cycles and when basic rotation is active. Note Please note that MP6166 is not in effect for the calibration cycles and the cycles for determining the basic rotation.
8 – 206
HEIDENHAIN Technical Manual iTNC 530
Probing from the NC program
F1
Max. measuring range (MP6130)
F2
Setup clearance (MP6140)
Probing in the Electronic Handwheel and Manual modes
Max. measuring range (MP6130)
F2
F1 = rapid traverse during probing from the NC program: MP6150 for triggering touch probe F2 = probing feed rate: MP6120 for triggering touch probe If the maximum measuring range (MP6130) is exceeded, the error message Touch point inaccessible appears. MP6140 and MP6150 have no meaning in the Manual and Electronic Handwheel operating modes.
September 2006
Touch Probe
8 – 207
MP6120 Input:
Probing feed rate 1 to 3000 [mm/min]
MP6130 Input:
Maximum measuring range 0.001 to 99 999.9999 [mm]
MP6140 Input:
Setup clearance over measuring point 0.001 to 99 999.9999 [mm]
MP6150 Input:
Rapid traverse in probing cycle 10 to 20 000 [mm/min]
MP6151 Input:
Pre-positioning in probing cycle with rapid traverse 0: Pre-positioning with speed from MP6150 1: Pre-positioning at rapid traverse
MP6165
Orient the probe before approaching with Cycle 0 or 1, or with manual probing 0: Probe is not oriented before each probing 1: Probe is oriented and always deflected in the same direction
Input: MP6166
Probing direction of the touch probe with consideration of an active basic rotation 0: Inactive (default) 1: Active
Input:
Special case: Horizontal / vertical swivel head
If you are using a horizontal/vertical swivel head, the compensation values of the touch probe must be accounted for in different axes: 8
With Module 9153, switch the touch probe axis in order to correctly account for the compensation values.
Module 9153 Switching the touch probe axis Specify a new touch probe axis (axis 0, 1 or 2) for manual measurement. A new touch probe axis can be specified only if MP7490 bit 2 = 1. Call: PS CM
B/W/D/K 9153
Error recognition:
Calibration data
8 – 208
Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
W1022
2
Invalid axis number
20
Module was not called in a spawn job or submit job
The iTNC can save the calibration data for up to three touch probes at once: 8
Set MP7490 bit 2 = 1.
8
Use the traverse range switching function to activate the current data with M4574/M4575.
8
Specify with MP7411 bit 0 whether a probing block is to use the tool data (length, radius, axis) from the last TOOL CALL block or from the calibrated data of the touch probe. If MP7411 = 1, you can use soft keys to take the effective length and effective radius over into the tool table.
HEIDENHAIN Technical Manual iTNC 530
8
In the Manual and Electronic Handwheel operating modes, enter the tool number in the menu for touch probe calibration.
M4574 M4575
Multiple probe calibration data blocks
Set
Reset
PLC
PLC
PLC
PLC
MP7411 Input:
Tool data in the touch probe block Bit 0 – 0: Use the calibrated data of the touch probe 1: Use the current tool data from the last TOOL CALL
MP7490 Format: Input:
Functions for traverse ranges %xxxx Bit 2 – Calibration data: touch probe for workpiece measurement: 0: One set of calibration data for all traverse ranges 1: Every traverse range has its own set of calibration data
You can use the tool table to manage several blocks of touch probe calibration data. Use the tool table columns CAL-OF1 (touch probe center offset in the reference axis), CAL-OF2 (touch probe center offset in the minor axis) and CALANG (spindle angle when calibrating). In the standard setting, these columns are hidden. They can be shown, however, with MP7266.28, MP7266.29 and MP7266.30. The current touch probe calibration data can be viewed and edited in the calibration menu for manual measurement: 8
With MP7411 bit 1, activate the probe calibration management function in the tool table. If bit 1 = 1, bit 0 has no function.
MP7411 Input:
September 2006
Select the traverse range (with M4575) Select the traverse range (with M4574)
Tool data in the touch probe block Bit 1 – 0: Only one set of touch probe calibration data 1: Use the tool table to manage more than one set of touch probe calibration data
Touch Probe
8 – 209
Probing from OEM cycles
8
With FN17:SYSWRITE ID990 NR1 adjust the approach behavior. If the input value = 0, the setup clearance from MP6140 and the effective radius are accounted for. If the input value > 0, the workpiece is approached as if the effective radius and setup clearance were zero. This function can be used, for example, for measuring small holes.
If you are using a TS 440 or TS 640 infrared touch probe, then before starting the probing cycle, you should orient the touch probe to the position at which it was calibrated. Define an M function for automatically orienting the probe to this position before probing. If the ready signal of the touch probe is already available, the touch probe is not oriented. 8
In MP6161, enter the number of the M function.
8
Enter the orientation angle in MP6162.
8
In MP6163, enter a minimum angle difference for orienting with the defined M function. orient if MP6163 < ( current spindle angle – MP6162 )
MP6161 Input:
M function for orienting the touch probe before every measuring process –1: Spindle orientation directly through NC 0: Function inactive 1 to 999: Number of the M function
MP6162 Input:
Orientation angle 0 to 359.9999 [°]
MP6163
Minimum difference between the current spindle angle and MP6162 before executing an oriented spindle stop 0 to 3.0000 [°]
Input:
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HEIDENHAIN Technical Manual iTNC 530
Calibration
To calibrate the touch probe from within the NC program: 8
In MP618x.0 and MP618x.1, enter the approximate position of the ring gauge center.
8
In MP618x.2, enter the surface of the ring gauge with respect to the spindle nose. Be sure to consider the length of the touch probe or of the tool.
8
In MP6185, enter the distance of the probing point below the ring’s top surface
MP618x.2
MP618x.1
MP618x.0
MP6185
If you probe from opposite orientations during calibration, the control stores the spindle orientation position during calibration (calculation of center offset for X and Y). You can probe at any spindle angle at a later date and the control will consider the current spindle angle and compensate for the center offset accordingly. Therefore, you do not need to orient the spindle to a specific position for probing.
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The center offset is then automatically compensated during all probing processes (see the User’s Manual): 8
With MP6160, select whether the spindle should be oriented in a 180° rotation directly through the NC or through the PLC. For spindle orientation by the NC you must reset M4012. For spindle orientation by the PLC you must enter the number of the M function in MP6160. The respective position is transferred as in the “oriented spindle stop” cycle.
In the Manual and Electronic Handwheel operating modes, the rotation is activated after a soft key is pressed. Special case: tilting axes The actual position of the spindle position encoder can vary with tilted axes. It depends on the machine’s mechanical design. Since the iTNC uses the actual position of the spindle as its reference when compensating the eccentricity, it would be necessary to recalibrate the touch probe for each new tilt in position: 8
In D760, enter the current offset with respect to the initial position.
8
Calibrate the touch probe in the initial position.
The iTNC compensates the entered offset when compensating the eccentricity. In the initial position, D760 must equal 0.
D760 M4012
Reset
PLC
PLC
PLC
PLC
MP6160 Input:
M function for probing from opposite directions –1: Spindle orientation directly by NC 0: Function inactive 1 to 999: Number of the M function for spindle orientation through PLC
MP6180
Coordinates of the ring gauge center for Probing Cycle 2 with respect to the machine datum (traverse range 1) 0 to +99 999.9999 [mm] X coordinate Y coordinate Z coordinate
Input: MP6180.0 MP6180.1 MP6180.2 MP6181 Input: MP6181.0 MP6181.1 MP6181.2
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Offset in tilting axes touch probe center offset [1/10 000°] Opening the spindle control loop
Set
Coordinates of the ring gauge center for Probing Cycle 2 with respect to the machine datum (traverse range 2) 0 to +99 999.9999 [mm] X coordinate Y coordinate Z coordinate
HEIDENHAIN Technical Manual iTNC 530
MP6182 Input: MP6182.0 MP6182.1 MP6182.2 MP6185 Input: Measuring tolerance
Coordinate of the ring gauge center for Probing Cycle 2 with respect to the machine datum (traverse range 3) 0 to +99 999.9999 [mm] X coordinate Y coordinate Z coordinate Distance of probing point below ring top surface during calibration +0.001 to +99 999.9999 [mm]
In the touch probe cycles for NC programs for automatic workpiece measurement you can enter limit values and use them for tolerance monitoring. The following markers are set by the NC. You can evaluate them through the PLC: M4065: All workpiece dimensions are OK M4066: Workpiece must be remachined M4067: Workpiece to be scrapped When probing from the NC program you can repeat measurements as desired in order to increase measurement precision: 8
In MP6170 enter the number of measurements to be performed per probing process.
8
In MP6171 enter a value by which the measurement result may differ.
The mean value is formed from the measurement results. If the individual results of measurement differ by more than the tolerance defined in MP6171, an error message is output. This function can be used to detect whether a measurement has been influenced, for example, by chips. Reset
NC NC NC
PLC PLC PLC
Workpiece dimensions are OK Workpiece must be reworked Workpiece is scrap
MP6170
Number of measurements in a programmed measurement (touch probe block) 1 to 3
Input: MP6171 Input:
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Set M4065 M4066 M4067
Confidence range for programmed measurement (MP6170 > 1) 0.002 to 0.999 [mm]
Touch Probe
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8.12.3 Measurement Log in Manual Touch Probe Cycles For every manual touch probe cycle there is one print mask per language. Standard print masks are saved on the control’s hard disk before it is shipped from the factory. With the print masks, the output format of the measurement results is defined in the %TCHPRNT.A file: 8
In the MOD menu “RS232/RS422 Setup” in the PRINT line, define the path for the %TCHPRNT.A file:
If the path name begins with RS232:\ or RS422:\ the measurement results are transferred over the data interface. If no path is entered, the file is saved in the root directory TNC:\. 8
Start the output of the measurement data with the PRINT soft key in the manual probe cycle.
If you do not wish to use the standard print masks, you can create you own print masks: 8
Save these masks in the language-specific paths on the PLC partition (see “Conversational Language” on page 8 – 84).
File names of the individual print masks
Calibration for length, touch-trigger probe: TSLCAL.A Calibration for radius, touch-trigger probe: TSRCAL.A Basic rotation: ROT_2PTS.A Point measuring: DAT_SURF.A Corner as datum: DAT_CORN.A Circle center as datum: DAT_CC.A Basic rotation over 2 holes: ROT_2HLS.A Datum over 4 holes: DAT_IS4H.A Circle center over 3 holes as datum: DAT_CC3H.A Calibration for length, measuring touch probe: TBLCAL.A Calibration of measuring touch probe: TMCAL.A
Format of the print masks
For the text lines of the print masks:
8 – 214
Lines of text must be put into quotation marks. Each line must be concluded with a semicolon. Format instructions can be given in the C programming language. Variables of the format instructions must be separated by commas and placed after the text string. Special control commands: • MM and INCH: Switch the display to mm or inches. The commands affect only number types that allow an inch representation. • mm_display: The following values are displayed only if under MOD Change M/INCH is set to MM. • inch_display: The following values are displayed only if under MOD Change MM/INCH is set to INCH. • all_display: The following values are displayed regardless of the setting in MM/INCH under MOD.
HEIDENHAIN Technical Manual iTNC 530
Variable names: Time management Name
Format type
Description
HOUR
int
No. of hours from real-time clock
MIN
int
No. of minutes from real-time clock
SEC
int
No. of seconds from real-time clock
DAY
int
Day from real-time clock
MONTH
int
Month as no. from real-time clock
STR_MONTH
string
Month as string abbr. from real-time clock
YEAR2
int
Two-digit year no. from real-time clock
YEAR4
int
Four-digit year no. from real-time clock
Settings of the manual measuring cycles Name
Format type Description
TCH.AXIS
string
Selected probe axis
TCH.PLANEROT
double
Basic rotation angle
TS.RAD
double
Calibrated probe radius
TS.LEN
double
Calibrated probe length
TS.OFF1
double
Calibrated center offset in reference axis
TS.OFF2
double
Calibrated center offset in minor axis
TS.RINGRAD
double
Radius of calibration ring
Results or input from the manual measuring cycles Name
Format type Description
BZ
double
Datum
BEZA
string
String datum axis
Datum at corner, circle, 4 holes, 3 holes on a circle Name
Format type Description
BZ_HA
double
Datum in reference axis
BZ_NA
double
Datum in minor axis
LKALBEZ
double
Datum entered with calibrated probe length
HA
string
Reference-axis character
NA
string
Minor-axis character
TA
string
Probe-axis character
Calculated straight lines from straight-line probing Name
Format type Description
GE_HA[2]
double
Straight-line axis section of reference axis
GE_NA[2]
double
Straight-line axis section of minor axis
GE_WI[2]
double
Straight-line angle
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Calculated radii from circle probing Name
Format type Description
RAD[8]
double
8 radii
Calculated center points from circle probing Name
Format type Description
MP_HA[8]
double
Reference axis of center points
MP_NA[8]
double
Minor axis of center points
Accumulated touch points from probes Name
Format type
Description
AP_HA[32]
double
Touch points in reference axis
AP_NA[32]
double
Touch points in minor axis
AP_TA[32]
double
Touch points in probe axis
Example
"Touch probe calibration"; ”___________________”; %02.2d-%02.2d-%4d:%02.2d:%02.2d "Time",DAY,MONTH,YEAR4,HOUR,MIN,SEC; Probe axis:"%s",TA; Probe radius: "%4.3lf" TS.RAD; Probe length: "%4.3lf" TS.LEN; Ring radius: "%4.3lf",TS.RINGRAD; Center offset in reference axis: "%4.3lf" TS.OFF1; Center offset in minor axis: "%4.3lf" TS.OFF2;
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HEIDENHAIN Technical Manual iTNC 530
8.12.4 Measurement Log in the Touch Probe Cycles for Probing from the NC program For every touch probe cycle for probing from the NC program there is a print mask for all languages. For the HEIDENHAIN touch probe cycles a print mask is saved for every cycle on the hard disk. This print mask cannot be changed. However, you can provide an OEM touch probe cycle with a print mask of your own. Unlike the print masks for the manual touch probe cycles, for the touch probe cycles for probing from the NC program you only need one print mask. The individual text blocks are distinguished through language code words. The text block that is defined in MP7230.0 is always output. Otherwise the syntax of the print masks is identical. Conversational language
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Language code word
English
L_ENGLISH
German
L_GERMAN
Czech
L_CZECH
French
L_FRENCH
Italian
L_ITALIAN
Spanish
L_SPANISH
Portuguese
L_PORTUGUE
Swedish
L_SWEDISH
Danish
L_DANISH
Finnish
L_FINNISH
Dutch
L_DUTCH
Polish
L_POLISH
Hungarian
L_HUNGARIA
Russian
L_RUSSIAN
Language neutral texts
L_ALL
Touch Probe
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Example
Here you see the print mask of Cycle 421 for English and German. L_ENGLISH; "------------------------------------------------------------------------"; "************ Measuring Log for Probing Cycle 421: Hole Measuring **********"; "Date: %02.2d-%02.2d-%4d",DAY,MONTH,YEAR4; "Time: %2d:%02.2d:%02.2d",HOUR,MIN,SEC; "Measuring program: %S",CALL_PATH; “--------------------------------------------------------------------------“; “ “; "Nominal values:
Center in 1st axis: %6.4LF", Q273;
“
Center in 2nd axis: %6.4LF", Q274;
“
Diameter: %6.4LF", Q262;
““; “---------------------------------------------------------------------------“; ““; “Given limit values:
Maximum dimension for center in 1st axis: %6.4LF“, Q31;
“
Minimum dimension for center in 1st axis: %6.4LF“, Q32;
““; “
Maximum dimension for center in 2nd axis: %6.4LF“, Q33;
“
Minimum dimension for center in 2nd axis: %6.4LF“, Q34;
““; “
Maximum dimension for hole: %6.4LF“, Q275;
“
Minimum dimension for hole: %6.4LF“, Q276;
““; “***************************************************************************“; ““; “Actual values:
Center in 1st axis: %6.4LF“, Q151;
“
Center in 2nd axis: %6.4LF“, Q152;
“
Diameter: %6.4LF“, Q153;
““; “---------------------------------------------------------------------------“; ““; “Deviations:
Center in 1st axis: %6.4LF“, Q161;
“
Center in 2nd axis: %6.4LF“, Q162;
“
Diameter: %6.4LF“, Q163;
““; “***************************************************************************“; ““; “Further measuring results: measuring height: %6.4LF“, Q261; ““; “**************************** End of Measuring Log ****************************“; L_GERMAN; “---------------------------------------------------------------------------“; “************** Messprotokoll Antastzyklus 421 Bohrung messen ***************“; “Datum: %02.2d-%02.2d-%4d“,DAY,MONTH,YEAR4; “Uhrzeit: %2d:%02.2d:%02.2d“,HOUR,MIN,SEC; “Messprogramm: %S“,CALL_PATH; “---------------------------------------------------------------------------“; ““; “Sollwerte:
Mitte Hauptachse: %6.4LF“, Q273;
“
Mitte Nebenachse: %6.4LF“, Q274;
“
Durchmesser
: %6.4LF“, Q262;
““; “---------------------------------------------------------------------------“; ““;
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HEIDENHAIN Technical Manual iTNC 530
“Vorgegebene Grenzwerte:
Größtmaß Mitte Hauptachse
: %6.4LF“, Q31;
“
Kleinstmaß Mitte Hauptachse
: %6.4LF“, Q32;
““; “
Größtmaß Mitte Nebenachse
: %6.4LF“, Q33;
“
Kleinstmaß Mitte Nebenachse
: %6.4LF“, Q34;
““; “
Größtmaß Bohrung
: %6.4LF“, Q275;
“
Kleinstmaß
: %6.4LF“, Q276;
““; “***************************************************************************“; ““; “Istwerte:
Mitte Hauptachse: %6.4LF“, Q151;
“
Mitte Nebenachse: %6.4LF“, Q152;
“
Durchmesser
: %6.4LF“, Q153;
““; “---------------------------------------------------------------------------“; ““; “Abweichungen:
Mitte Hauptachse: %6.4LF“, Q161;
“
Mitte Nebenachse: %6.4LF“, Q162;
“
Durchmesser
: %6.4LF“, Q163;
““; “***************************************************************************“; ““; “Weitere Messergebnisse: Messhöhe : %6.4LF“, Q261; ““; “**************************** Messprotokoll-Ende *****************************“;
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8.12.5 Tool Measurement With the HEIDENHAIN table touch probes (TT) you can measure and inspect tools. HEIDENHAIN provides standard cycles for automatic tool measurement and calibration of the TT (see the Touch Probe Cycles User’s Manual). Technical prerequisites
You need: TT (TT 130/TT 140) Central tool file TOOL.T must be active (via machine parameter) The iTNC can save the calibration data for up to three touch probes at once: 8
Use the traverse range switching function to activate the current data with M4574/M4575.
8
Set MP7490 bit 3 to save three separate sets of calibration data.
MP7490 Format: Input:
Standard measuring cycles
Functions for traverse ranges %xxxx Bit 3 – Calibration data: touch probe for tool measurement: 0: One set of calibration data for all traverse ranges 1: Every traverse range has its own set of calibration data
The TT must be mounted and interfaced: 8
With MP6500 bit 0, enable the cycles for tool measurement.
MP6500 Format: Input:
Tool measurement with TT table touch probe %xxxxxxxxxxxx Bit 0 – 0: Cycles for tool measurement disabled 1: Cycles for tool measurement not disabled
Note In the standard measuring cycles for tool measurement, the PLC program may command a gear shift during output of the spindle speed without interrupting the cycle.
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Tool radius and tool length measurement
8
With MP6500 bits 1 and 2, specify whether tool radius and tool length measurements are allowed and whether individual teeth are to be measured.
8
Specify in MP6500 bit 14 if tool measurement with stationary spindle is to be carried out for tools with the value 0 in the ”number of teeth” column (CUT.) in the tool table. This can be necessary for tools with diamond teeth, for example.
MP6500 Format: Input:
Oriented spindle stop
Tool measurement with TT table touch probe %xxxxxxxxxxxxxxx Bit 1 – 0: Tool radius measurement allowed Tool length measurement with rotating spindle 1: Tool radius measurement and individual tooth measurement disabled Bit 2 – 0: Tool length measurement with rotating spindle (bit 1=1) 1: Tool length measurement with rotating spindle, only if a tool radius offset (TT: R-OFFS) has been entered in the tool table Bit 14 – Tool measurement with number of teeth = 0 0: Tool measurement with rotating spindle 1: Tool measurement with stationary spindle
Spindle orientation must be active for individual tooth measurement, otherwise the tool radius measurement is subject to error: 8
Define with MP6500 bit 3 whether the tool is measured with or without spindle orientation.
8
With MP6560, specify whether the spindle is to be oriented directly via NC or through the PLC. • For spindle orientation directly by NC: Reset M4012. • For spindle orientation by PLC: Enter the number of the M function in MP6560.
The respective positions are transferred as in the “oriented spindle stop” cycle. M4017 is set during every spindle orientation. MP6500 Input:
Tool measurement with TT table touch probe Bit 3 – 0: Tool measurement with spindle orientation 1: Tool measurement without spindle orientation. Individual tooth measurement not possible. Tool radius measurement possibly faulty.
MP6560
M function for spindle orientation during individual tooth measurement –1: Spindle orientation directly by NC 0: Function inactive 1 to 999: Number of the M function for spindle orientation by PLC
Input:
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Touch Probe
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Probing direction
8
In MP6505.x, define the probing direction for tool radius measurement.
MP6505 Input:
MP6505.0 MP6505.1 MP6505.2 Offset of probe contact to the tool
8
In MP6530.x enter the distance from the tool end to the top of the probe contact during tool radius measurement.
8
In the L-OFFS field of the tool table, enter an additional tool-specific offset.
MP6530 Input: MP6530.0 MP6530.1 MP6530.2 Safety zone
Distance from the tool end to the top of the probe contact during tool radius measurement for 3 traverse ranges 0.001 to 99.9999 [mm] Traverse range 1 Traverse range 2 Traverse range 3
After a cycle for tool measurement starts, the tool automatically moves at the feed rate defined in MP6550 from the clearance height defined in the cycle to the limit of the safety zone. 8
In MP6540.x, define a safety zone around the probe contact of the TT table touch probe.
8
In MP6550, define the feed rate at which the border of the safety zone is approached.
MP6540
8 – 222
Probing direction for tool radius measurement for 3 traverse ranges 0: Positive probing direction in the angle reference axis (0° axis) 1: Positive probing direction in the +90° axis 2: Negative probing direction in the angle reference axis (0° axis) 3: Negative probing direction in the +90° axis Traverse range 1 Traverse range 2 Traverse range 3
Input: MP6540.0 MP6540.1
Safety zone around the probe contact of the TT table touch probe for pre-positioning 0.001 to 99 999.9999 [mm] Safety clearance in tool axis direction Safety clearance in the plane perpendicular to the tool axis
MP6550 Input:
Rapid traverse in probing cycle for TT table touch probe 10 to 300 000 [mm/min]
HEIDENHAIN Technical Manual iTNC 530
Probe contact
8
In MP6531.x, enter the diameter (disk) or the edge length (cube) for the probe contact.
8
In MP6580.x, MP6581.x and MP6582.x, enter the coordinates of the probe contact center with respect to the machine datum. After calibration the NC internally saves the exact center of the probe contact.
8
If a PLC datum shift should be included in the tool measurement, set MP6500 bit 12 = 1.
For a cube it suffices to probe from one direction: 8
Set MP6500 bit 8 = 1.
8
With MP6500 bit 9, specify whether the basic rotation of the cube is measured automatically or whether it should be aligned to the axes mechanically. During automatic measurement, the edge of the touch probe is probed twice and the basic rotation is calculated. All subsequent probing is done automatically at a right angle to the touch probe edge.
8
With MP6500 bit 10, select how to pre-position to the starting point. If bit 10 = 1, bit 9 must equal 0.
MP6500 Format: Input:
Tool measurement with TT table touch probe %xxxxxxxxxxxxx Bit 7 – Reserved Bit 8 – Probing routine 0: Probe contact is probed from several directions 1: Probe contact is probed from one direction Bit 9 – Automatic measurement of the direction of the probe contact basic rotation (bit 8 = 1) 0: Basic rotation is not measured 1: Basic rotation of the probe element is automatically measured Bit 10 – Probing routine (bit 8 = 1) 0: Pre-positioning to starting point in all three principal axes 1: Pre-positioning to starting point in the tool axis and in the axis of the probing direction (MP6505) (bit 9 = 0) Bit 12 – Inclusion of the PLC datum shift 0: Do not include the PLC datum shift 1: Include the PLC datum shift
MP6531
Diameter or edge length of the TT table touch probe stylus contact for 3 traverse ranges 0.001 to 99.9999 [mm] Traverse range 1 Traverse range 2 Traverse range 3
Input: MP6531.0 MP6531.1 MP6531.2 MP6580.0-2 Input:
Coordinates of the TT table touch probe stylus contact center with respect to the machine datum (traverse range 1) –99 999.9999 to +99 999.9999 [mm]
MP6581.0-2 Coordinates of the TT table touch probe stylus contact center with respect to the machine datum (traverse range 2) Input: –99 999.9999 to +99 999.9999 [mm] MP6582.0-2 Coordinates of the TT table touch probe stylus contact center with respect to the machine datum (traverse range 3) Input: –99 999.9999 to +99 999.9999 [mm]
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Probing feed rate and spindle speed
The probing feed rate from MP6520 is used for tool measurement with a nonrotating tool. The iTNC automatically calculates the probing feed rate and the spindle speed for tool measurement with rotating tool. The speed is calculated from the maximum permissible surface cutting speed (MP6570) and the tool radius in the tool table: 8
Enter MP6500 bit 4 = 0.
8
In MP6572, enter the maximum permissible speed.
8
In MP6570, enter the maximum permissible surface speed of the tool edge.
The control calculates the speed from the following formula: n =
MP6570 ---------------------------3 2 ⋅ π ⋅ r ⋅ 10
n: Speed [rpm] MP6570 = Maximum permissible surface speed of the tool edge [m/min] r: Tool radius [mm] High frequency spindles often cannot function at speeds under 1000 rpm: 8
In this case enter MP6500 bit 4 = 1, in order to always use the lowest possible speed for that spindle. This is automatically calculated by the TNC. MP6570 and MP6572 then are without function.
The probing feed rate is calculated from the revolutions per minute and the measuring tolerance defined in MP6510.0. 8
In MP6510.0, enter the maximum permissible measuring error, the “measuring tolerance.”
v = measuring tolerance · n v: Probing feed rate [m/min] Measuring tolerance: Measuring tolerance [mm] from MP6510.0 depending on MP6507 n: Speed [rpm] 8
With MP6507, specify the type of calculation of the probing feed rate.
MP6507=0: Calculation of the probing feed rate with constant tolerance The measuring tolerance remains constant, regardless of the tool radius. For large tools, however, the probing feed rate becomes so small that it falls below the smallest programmable increment and becomes zero. The smaller the maximum surface cutting speed and the measuring tolerance, the sooner this effect begins. MP6507=1: Calculation of the probing feed rate with variable tolerance The measuring tolerance changes depending on the tool radius. A probing feed rate results even for large tool radii.
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HEIDENHAIN Technical Manual iTNC 530
The measuring tolerance is changed according to the following table: Tool radius
Measuring tolerance
Up to 30 mm
MP6510.0
30 mm to 60 mm
2 · MP6510.0
60 mm to 90 mm
3 · MP6510.0
90 mm to 120 mm
4 · MP6510.0
MP6507=2: Constant probing feed rate The probing feed rate remains the same, regardless of the tool radius. The absolute measuring error grows proportionally with the size of the tool radius. r Meßtoleranz = ---------------------5 [mm]
⋅ MP6510.0
r: Tool radius [mm] MP6510.0: Max. permissible measuring error [mm] v =
MP6570 ⋅ MP6510 -------------------------------------3 2 ⋅ π ⋅ 10
v: Probing feed rate [m/min] MP6570: Maximum permissible surface speed of the tool edge [m/min]
September 2006
MP6500 Format: Input:
Tool measurement with TT table touch probe %xxxxxxxxxxxxx Bit 4 – 0: Automatically determine speed 1: Always use minimum spindle speed
MP6507 Input:
Calculation of the probing feed rate 0: Calculation of the probing feed rate with constant tolerance 1: Calculation of the probing feed rate with variable tolerance 2: Constant probing feed rate
MP6520 Input:
Probing feed rate for tool measurement with non-rotating tool 1 to 3000 [mm/min]
MP6570 Input:
Max. permissible surface cutting speed at the tooth edge 1.0000 to 129.0000 [m/min]
MP6572 Input:
Maximum permissible speed during tool measurement 1 to 1000 [rpm] 0: 1000 [rpm]
Touch Probe
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Individual tooth measurement
The TNC attempts to maintain the tolerance from MP6510.0 during the tooth search for individual tooth measurement. At the same time MP6510.0 is used to calculate the probing feed rate. If the tolerance from MP6510.0 cannot be maintained during the tooth search, e.g. due to the missing spindle accuracy, the TNC attempts to maintain the tolerance from MP6510.1. If this also cannot be maintained, the error message Tolerance in MP6510 too small appears. 8
Enter the first maximum measuring error in MP6510.0.
8
Enter the second maximum measuring error in MP6510.1.
MP6510 Input: MP6510.0 MP6510.1 Monitoring of the rotary axes and secondary linear axes
Permissible measuring error for tool measurement with rotating tool 0.002 to 0.999 [mm] First measurement error Second measurement error
To ensure that the rotary axes and the secondary linear axes are always in a defined position during the tool measuring cycles: 8
In MP6585, enter the axes to be monitored.
8
In MP6586.x, enter the reference coordinate at which the axis should be located during the tool measuring cycles.
If, during activated monitoring, the nominal position does not match the position from MP6586.x, an error message is displayed. MP6585 Format: Input:
MP6586
Input: MP6586.0 MP6586.1 MP6586.2 MP6586.3 MP6586.4 MP6586.5
8 – 226
Monitoring the position of the rotary and additional linear axes during the tool measurement cycles %xxxxxx 0: Axis is not monitored 1: Axis is monitored Bit 0 – A axis Bit 1 – B axis Bit 2 – C axis Bit 3 – U axis Bit 4 – V axis Bit 5 – W axis Ref. coordinate for monitoring the position of the rotary and additional linear axes during the tool measurement cycles –99 999.9999 to +99 999.9999 [mm] or [°] A axis B axis C axis U axis V axis W axis
HEIDENHAIN Technical Manual iTNC 530
Tool measurement in a tilted coordinate system
8
If the tool is to be measured in a tilted position other than that in which the tool touch probe was calibrated, set MP6500 bit 13 = 1.
MP6500 Format: Input:
Tool measurement with TT table touch probe %xxxxxxxxxxxxx Bit 13 0: Tool is measured in the tilt position in which the tool touch probe was also calibrated 1: Tool is measured in another tilt position
Warning If the tool is not measured in the same tilt position as that in which the tool touch probe was calibrated, ensure that the tool is perpendicular to the contact plate! Tool breakage
8
With MP6500 bits 5 and 6, specify whether the NC program should stop when the breakage tolerance is exceeded. M4063 is always set when the breakage tolerance is exceeded.
8
With bit 11, specify whether the result of “tool checking” measurement is to be entered in the tool table.
MP6500 Format: Input:
September 2006
Tool measurement with TT table touch probe %xxxxxxxxxxxx Bit 5 – NC stop during “tool checking” 0: The NC program is not stopped when the breakage tolerance is exceeded 1: If the breakage tolerance is exceeded, the NC program is stopped and the error message “Tool broken” is displayed. Bit 6 – NC stop during “tool measurement” 0: The NC program is not stopped when the breakage tolerance is exceeded. 1: If the breakage tolerance is exceeded, the NC program is stopped and the error message “Touch point inaccessible” is displayed. Bit 11 – “Tool checking” and changing in the tool table 0: After “tool checking” the tool table is changed 1: After “tool checking” the tool table is not changed
Touch Probe
8 – 227
Markers in the PLC
M4060 is set if a cycle for tool measurement is started. M4061 displays whether a cycle was activated for tool measurement or for tool checking. M4062 and M4063 are set if during tool checking one of the entered tolerances was exceeded. The tool is locked. The markers M4050, M4051, M4052, M4053, M4055 and M4056 function as in the standard cycles. You must enable the cycles for tool measurement with M4055. For spindle orientation directly by the NC (MP6560 = –1), you must reset M4012.
M4060 M4061 M4062 M4063
8 – 228
Cycle for tool measurement started 0: Measure the tool 1: Check the tool 0: Wear tolerance not exceeded 1: Wear tolerance exceeded 0: Breakage tolerance not exceeded 1: Breakage tolerance exceeded
Set
Reset
NC NC
NC NC
NC
NC/PLC
NC
NC/PLC
HEIDENHAIN Technical Manual iTNC 530
✎
September 2006
Touch Probe
8 – 229
8.13 Special Functions for Laser Cutting Machines You can activate special functions to interface the iTNC to laser cutting machines and water jet machines. 8.13.1 Analog Voltage Output If you do not need the analog output S for the spindle, you can define other functions for this output: 8
With MP3011, select the function of analog output S. If MP3010 > 3, MP3011 has no effect.
MP3011 Input:
Voltage proportional to the contouring feed rate, MP3011 = 1
Function of analog output S, if MP3010 < 3 0: No special function 1: Voltage is proportional to the current contouring feed rate, depending on MP3012 2: Voltage is defined as through Module 9130 3: Voltage is defined through M functions (M200 to M204)
A voltage proportional to the current contouring feed rate is output: 8
In MP3012, enter the feed rate achieved when a 10-V analog voltage is output.
MP3012 Input:
Feed rate from output of an analog voltage of 10 V, MP3011 = 1 0 to 300 000 [mm/min]
Voltage from the PLC, MP3011 = 2
The voltage that you have defined with Module 9130 is output.
Definition of the voltage through M functions, MP3011 = 3
The voltage to be output is defined through M functions M200 to M204: 8
Set MP3011 = 3, otherwise the M functions described above are not available.
The M functions are executed synchronously to the positioning blocks and are effective at the beginning of the positioning blocks. Direct output of the programmed voltage: M200 V...
The iTNC outputs the value after M200 V... as a voltage.
Voltage output varies with the distance: M201 V...
The iTNC outputs the voltage as a function of the traversed distance. Starting from the active voltage, the iTNC increases or decreases the voltage linearly to the value programmed behind M201 V.
Input: 0 to 9.999 [V] Duration of effect: M200 V... is effective until a new voltage is output with M200 to M204.
Input: 0 to 9.999 [V] Duration of effect: M200 V... is effective until a new voltage is output with M200 to M204.
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HEIDENHAIN Technical Manual iTNC 530
Voltage output varies with the velocity: M202 FNR
The iTNC outputs the voltage as a function of the velocity: 8
In MP3013.x and MP3014.x, define up to three characteristic curves in a table.
In the table, certain analog voltages are assigned to certain feed rates: 8
With M202 FNR select the curve in which the iTNC finds the voltage to be output.
Input: 1 to 3 Duration of effect: M202 FNR is effective until a new voltage is output with M200 to M204. You can enter up to four kink points per curve in the table. The values to be distributed are interpolated linearly between the kink points. The first kink point must start with the input value zero. For the following kink points of the curve the input values must rise steadily. The iTNC detects the beginning of a new curve from the input value zero. Example: Velocity
Curve
MP3013.0
0
MP3014.0
0
MP3013.1
25
MP3014.1
0
MP3013.2
500
MP3014.2
4.5
MP3013.3
1000
MP3014.3
9.999
MP3013.4
0
MP3014.4
0
MP3013.5
10 000
MP3014.5
9.999
MP3013.6
0
MP3014.6
0
MP3013.7
50
MP3014.7
0.5
MP3013.8
300
MP3014.8
1.5
MP3013.9
5000
MP3014.9
9.999
MP3013.10
0
MP3014.10
0
MP3013.11
0
MP3014.11
0
MP3013.x Input: MP3014.x Input:
September 2006
Voltage
1
2
3
Not used
Characteristic curve kink points (velocity) for output of the analog voltage with M202 10 to 300 000 [mm/min] Characteristic curve kink points (voltage) for output of the analog voltage with M202 0 to 9.999 [V]
Special Functions for Laser Cutting Machines
8 – 231
Voltage output varies with the time (time-dependent ramp): M203 V... TIME...
The iTNC outputs the voltage as a function of the time. Starting from the active voltage, the iTNC increases or decreases the voltage linearly in the time programmed behind TIME to the value programmed behind V.
Voltage output varies with the time (time-dependent pulse): M204 V... TIME...
The iTNC outputs the value programmed after V... as a pulse. The duration of the pulse is specified with “TIME....”.
Input: Voltage V: 0 to 9.999 [V] TIME: 0 to 1.999 [sec] Duration of effect: M203 V... TIME... is effective until a new voltage is output with M200 to M204.
Input: Voltage V: 0 to 9.999 [V] TIME: 0 to 1.999 [sec] Duration of effect: M204 V... TIME... is effective until a new voltage is output with M200 to M204.
8.13.2 Graphic Simulation without TOOL CALL Graphic simulation is also available on machines that operate without tool definition (e.g., water jet and laser cutting machines): 8
In MP7315, specify the tool radius for the graphic simulation.
8
In MP7316, define the penetration depth of the simulated tool.
8
Use M functions to mark the program sections to be simulated and define the functions in MP7317.x.
MP7315
8 – 232
Input:
Tool radius for graphic simulation without TOOL CALL 0.0000 to 99 999.9999 [mm]
MP7316 Input:
Penetration depth of the tool 0.0000 to 99 999.9999 [mm]
MP7317 MP7317.0 Input: MP7317.1 Input:
M function for graphic simulation Beginning of graphic simulation 0 to 88 Interruption of the graphic simulation 0 to 88
HEIDENHAIN Technical Manual iTNC 530
8.13.3 Program Stop for M Functions and TOOL CALL S TOOL CALL S means a TOOL CALL in which only one spindle speed was programmed. For TOOL CALL S and also in the PROGRAM RUN, FULL SEQUENCE and PROGRAM RUN, SINGLE BLOCK modes, the output of an M function interrupts the program run until you confirm execution with M4092. However, on applications such as laser cutting machines, the program should not be interrupted: 8
With MP7440 bit 2 and MP3030 bit 0, specify whether the program run should be interrupted. If you deselect the program stop, you must not perform the following functions during output: • PLC positioning • Datum shift • Oriented spindle stop • Limit switch range switchover Warning Do not use this function on milling machines and boring mills!
September 2006
MP3030 Input:
Behavior of the spindle Bit 0 – 0: Axis stop for TOOL CALL S... 1: No axis stop for TOOL CALL S...
MP7440 Format: Input:
Output of M functions %xxxxx Bit 2 – Program stop with M functions: 0: Program stop until acknowledgment of the M function 1: No program stop, no waiting for confirmation
Special Functions for Laser Cutting Machines
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✎
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HEIDENHAIN Technical Manual iTNC 530
8.14 Tool Changer You control the tool changer through PLC outputs. If the tool changer is to be driven by controlled axes, use PLC axes. See page 6 – 27. You can also control the tool changer through proximity switches: 8
Save the information about the tool in the tool table and the information about the tool changer in the pocket table.
Tool management (replacement tool, tool life, etc.) is handled by the NC. Markers and words provide you with the information necessary for driving the tool changer. 8.14.1 Tool and Pocket Number You can edit the tool table in the machining modes of operation: 8
Ensure that the tool table and pocket table are neither locked nor protected via MP7224.x. See page 8 – 150.
8
Press the TOOL TABLE soft key.
From the tool table you can call the pocket table (see the User’s Manual): 8
Ensure that the POCKET TABLE soft key is not hidden by MP7263 bit 0.
8
Press the POCKET TABLE soft key.
The current tool table is TOOL.T, and the pocket table is TOOL_P.TCH. Both files are saved in the root directory TNC:\. Definition of the tool and pocket table: 8
In MP7266.x, specify the fields of the tool table that are to be displayed and the sequence in which they appear.
8
In MP7267.x, specify the fields of the pocket table that are to be displayed and the sequence in which they appear.
8
Ensure that the tool table and pocket table are neither locked nor protected via MP7224.x. See page 8 – 150.
8
In MP7260, specify the number of tools in the tool table. • If MP7260 = 0, no tool table is used (TOOL.T does not exist). In this case, you must program the tool length and radius in the NC program with a TOOL DEF block (see the User’s Manual). There is no automatic tool management.
8
If you are only using one tool magazine, set the number of pockets in MP7261.0 and enter MP7261.1-3 = 0. If you use multiple tool magazines, see “Managing multiple tool magazines” on page 8 – 257. • If MP72610.3 = 0, no pocket table is generated.
With Modules 9092, 9350 (9093), 9351 (9094) and 9096 you can read the tool and pocket tables and overwrite them. If an input field is open in the editor at the time the modules are called, this field is closed automatically.
September 2006
Tool Changer
8 – 235
The status display shows the current tool data. With MP7263 bit 1 you configure the output of the column in the pocket table during backup and during conversion from binary format to ASCII. MP7260 Input:
Number of tools in the tool table 0 to 30 000
MP7261.0-3 Number of pockets in the tool magazine 1 to 4 Input: 0 to 254
8 – 236
MP7263 Format: Input:
Pocket table %xx Bit 0 – 0: POCKET TABLE soft key is shown 1: POCKET TABLE soft key is hidden Bit 1 – Output of the pocket table for file functions 0: Output only the displayed columns 1: Output all columns
MP7266 Input:
Elements of the tool table 0 = no display 1 to 99 = position in the tool table
MP
Meaning
Column name
Column width
MP7266.0
16-character alphanumeric tool name
NAME
16
MP7266.1
Tool length
L
11
MP7266.2
Tool radius
R
11
MP7266.3
Tool radius 2 for toroidal cutter
R2
11
MP7266.4
Oversize in tool length
DL
8
MP7266.5
Oversize in tool radius
DR
8
MP7266.6
Oversize in tool radius 2
DR2
8
MP7266.7
Locked tool?
TL
2
MP7266.8
Replacement tool
RT
3
MP7266.9
Maximum tool age (M4543)
TIME1
5
MP7266.10
Maximum tool age TOOL CALL
TIME2
5
MP7266.11
Current tool age
CUR.TIME
8
MP7266.12
Comment on the tool
DOC
16
MP7266.13
Number of tool teeth
CUT
4
MP7266.14
Wear tolerance for tool length
LTOL
6
MP7266.15
Wear tolerance for tool radius
RTOL
6
MP7266.16
Cutting direction of the tool
DIRECT
7
HEIDENHAIN Technical Manual iTNC 530
MP
Meaning
Column name
Column width
MP7266.17
Additional information for PLC (Module 9093)
PLC
9
MP7266.18
Tool offset length
TT: LOFFS
11
MP7266.19
Tool offset radius
TT: ROFFS
11
MP7266.20
Breakage tolerance for tool length
LBREAK
6
MP7266.21
Breakage tolerance for tool radius
RBREAK
6
MP7266.22
Tooth length
LCUTS
11
MP7266.23
Plunge angle
ANGLE
7
MP7266.24
Tool type
TYPE
10
BOR: Boring tool BCKBOR: Back-boring tool CENT: NC spot drill / center drill CSINK: Countersinking tool DRILL: Drilling tool MILL: Milling cutter MILL_R: Rough cutter MILL_F: Finishing cutter MILL_RF: Rough and finishing cutter MILL_FD: Floor finishing cutter MILL_FS: Side finishing cutter MILL_FACE: Face-milling cutter REAM: Reamer TAP: Tapping tool GF: Thread miller GSF: Thread miller with chamfer EP: Thread miller for single threads WSP: Thread miller with indexable insert BGF: Thriller ZBGF: Circular thread miller TSINK: Piloted counterbore
September 2006
Tool Changer
8 – 237
MP
Column name
Column width
MP7266.25
Tool material
TMAT
16
MP7266.26
Cutting data table
CDT
16
MP7266.27
PLC value
PLC-VAL
11
MP7266.28
Center misalignment in reference axis
CAL-OF1
11
MP7266.29
Center misalignment in minor axis
CAL-OF2
11
MP7266.30
Spindle angle during calibration
CAL-ANG
8
MP7266.31
Tool type for pocket table
PTYP
2
MP7266.32
Maximum shaft speed [rpm]
NMAX
6
MP7266.33
Retract tool
LIFTOFF
1
MP7266.34
PLC value Input range: –99999.9999 to +99999.9999
P1
11
MP7266.35 MP7266.36 MP7266.37
8 – 238
Meaning
P2 P3
Additional kinematics description KINEMATIC for tool and tool carrier
16
MP7266.38
Point angle for DRILL and CSINK T-ANGLE
9
MP7266.39
Thread pitch for TAP
10
PITCH
HEIDENHAIN Technical Manual iTNC 530
MP7267 Input: MP7267.0 MP7267.1 MP7267.2 MP7267.3 MP7267.4 MP7267.5 MP7267.6 MP7267.7 MP7267.8 MP7267.9 MP7267.10 MP7267.11 MP7267.12 MP7267.13 MP7267.14 MP7267.15 MP7267.16 MP7267.17
Elements of the pocket table 0: No display 1 to 99: Position in the pocket table Tool number (T) Special tool (ST) Fixed pocket (F) Locked pocket (L) PLC status (PLC) Tool name (TNAME) Comment on the tool (DOC) Tool type for pocket table (PTYP) Value 1 (P1) Value 2 (P2) Value 3 (P3) Value 4 (P4) Value 5 (P5) Reserve pocket (RSV) Pocket above locked (LOCKED_ABOVE) Pocket below locked (LOCKED_BELOW) Pocket at left locked (LOCKED_LEFT) Pocket at right locked (LOCKED_RIGHT)
Note The TNAME (tool name) column contains the name of the tool from the tool table and therefore cannot be edited. For indexed tools, the name of the tool is entered with the index 0.
September 2006
Tool Changer
8 – 239
Module 9092 Search for an entry in the tables selected for execution (.T/.D/.TCH) Prerequisite for table: M status must be set. The entry or value sought is given as a natural number, shifted by the number of decimal places that can be entered. As return code the function replies with the number of the line in which the value was found. It is possible, for example, to look for the vacant pocket (corresponds to T0) in the pocket table. If you wish to look for more occurrences of the same value, you must enter the line number of the last occurrence plus one as the starting line. Call: PS
PS PS
8 – 240
B/W/D/K 0: *.T file (tool table) 1: *.D file (datum table) 2: *.TCH file (pocket table) B/W/D/K B/W/D/K *.T file 0: Tool length (L) 1: Tool radius (R) 2: Reserved 3: Replacement tool (RT); (–1= not defined) 4: Reserved 5: TIME 1 6: TIME 2 7: CURRENT TIME 8: Tool radius 2 (R2) 9: Oversize for tool length (DL) 10: Oversize for tool radius (DR) 11: Oversize for tool radius 2 (DR2) 12: Tool locked (TL); (0: No, 1: Yes) 13: Number of the tool teeth (CUT) 14: Wear tolerance for tool length (LTOL) 15: Wear tolerance for tool radius (RTOL) 16: Cutting direction of the tool (DIRECT); (0:+; 1: –) 17: PLC status (PLC) 18: Tool offset for tool length (TT:LOFFS) 19: Tool offset for radius (TT:ROFFS); ($7FFF FFFF = R) 20: Breakage tolerance for tool length (LBREAK) 21: Breakage tolerance for tool radius (RBREAK) 22: Tooth length (LCUTS) 23: Plunge angle (ANGLE) 24: Tool number 25: Tool index 26: PLC value (PLC-VAL) 27: Probe center offset in reference axis (CAL-OF1) 28: Probe center offset in minor axis (CAL-OF1) 29: Spindle angle during calibration (CAL-ANG) 30: Tool type for pocket table (PTYP) 31: Maximum shaft speed [rpm] (NMAX) 32: Retract tool (LIFTOFF) 33: Value for PLC (P1) HEIDENHAIN Technical Manual iTNC 530
PS CM PL PL
34: Value for PLC (P2) 35: Value for PLC (P3) 36: Point angle for tool types DRILL and CSINK (T-ANGLE) 37: Thread pitch for tool type TAP (PITCH) *.D file: 0: Shift in axis 1 ($7FFF FFFF = –) 1: Shift in axis 2 ($7FFF FFFF = –) 2: Shift in axis 3 ($7FFF FFFF = –) 3: Shift in axis 4 ($7FFF FFFF = –) 4: Shift in axis 5 ($7FFF FFFF = –) 5: Shift in axis 6 ($7FFF FFFF = –) 6: Shift in axis 7 ($7FFF FFFF = –) 7: Shift in axis 8 ($7FFF FFFF = –) 8: Shift in axis 9 ($7FFF FFFF = –) *.TCH file: 0: Tool number (T); (–1, if no tool is entered) 1: Special tool (ST); (0: no, 1 = yes) 2: Fixed pocket (F); (0: no, 1 = yes) 3: Locked pocket (L); (0: no, 1 = yes) 4: PLC status (PLC) 5: Tool type for pocket table (PTYP) 6: Reserve pocket (RSV) 7: Value 1 (P1) 8: Value 2 (P2) 9: Value 3 (P3) 10: Value 4 (P4) 11: Value 5 (P5) B/W/D/K 9092 B/W/D B/W/D 0: No error. Element was found. 1: Call was not in a submit or spawn job 2: File type does not exist 3: No file of the entered type was found with M status 4: Line number not in file 5: Incorrect element number 6: Element value not found
Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
No errors
1
See above for errors
Tool Changer
8 – 241
Module 9093 Read data from tables selected for program (.T/.D/.TCH) Prerequisite for table: M status must be set. You transfer the line number (i.e. tool number for *.T, vector number for *.D or pocket number for *.TCH) and the number of the element to be read. The value is given as a natural number, shifted by the number of decimal places that can be entered. The module must be called in a submit job or spawn job. Call: PS PS PS CM PS PL
B/W/D/K B/W/D/K B/W/D/K 9093 B/W/D B/W/D
0: No error 1: Call was not in a submit job 2: File type does not exist 3: No file of the entered type was found with M status 4: Line number not in file 5: Incorrect element number
Error recognition:
8 – 242
Marker
Value
Meaning
M4203
0
No errors
1
See above for errors
HEIDENHAIN Technical Manual iTNC 530
Module 9094 Write data into a tool and datum table Prerequisite for table: M status must be set. You transfer the line number and the element number of the element to be overwritten. The value is given as a natural number, shifted by the number of decimal places that can be entered. The execution of Module 9094 reinitializes the geometry. The module must be called in a submit job or spawn job. Call: PS PS PS PS CM PL
B/W/D/K B/W/D/K B/W/D/K B/W/D/K 9094 B/W/D
0: No error. Element was written. 1: Call was not in a submit or spawn job 2: File type does not exist 3: No file of the entered type was found with M status 4: Line number not in file 5: Incorrect element number 6: Element value is outside the permissible range
Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
No errors
1
See above for errors
Tool Changer
8 – 243
Module 9096 Delete a line in the tool table You remove a line from the tool table and cancel any link with a replacement tool. The module must be called in a submit job or spawn job. Call: PS PS
CM
B/W/D/K B/W/D/K Bit 0: Delete entries in pocket table 0: Pocket table remains unchanged 1: Tool number in pocket table is deleted Bit 1: Tool or pocket number 0: Transferred value = tool number 1: Transferred value = pocket number 9096
Error recognition: Marker
Value
Meaning
M4203
0
Line was deleted
1
Error code in W1022
2
Invalid pocket or tool number
21
Module was not called in a submit job or spawn job
24
File error
W1022
Module 9350 Read data from the tool table Module 9350 reads the contents of a cell in the tool table with the status M. The value is read as an integer value. Call: PS PS PS
8 – 244
B/W/D/K B/W/D/K ≤ 0: Main entry B/W/D/K 0: Tool length L 1: Tool radius R 2: Not used 3: Replacement tool (–1 if not defined) 4: Not used 5: Maximum tool age TIME1 6: Maximum tool age for TOOL CALL TIME2 7: Current tool age CUR.TIME 8: Tool radius 2 R2 9: Oversize for tool length DL 10: Oversize for tool radius DR 11: Oversize for tool radius 2 DR2 12: Tool locked TL (0=No, 1=Yes) 13: Number of tool teeth CUT. 14: Wear tolerance in length LTOL 15: Wear tolerance in radius RTOL 16: Cutting direction DIRECT. (0=+; 1=–) 17: PLC status PLC 18: Tool offset for length TT: L-OFFS 19: Tool offset for radius TT: R-OFFS 20: Break tolerance for length LBREAK HEIDENHAIN Technical Manual iTNC 530
21: Break tolerance for radius RBREAK 22: Tooth length LCUTS 23: Maximum plunge angle ANGLE 24: Tool number 25: Tool index 26: PLC value PLC-VAL 27: Probe center offset in reference axis CAL-OF1 28: Probe center offset in minor axis CAL-OF2 29: Spindle angle during calibration CAL-ANG 30: Tool type PTYP 31: Maximum speed NMAX 32: Retract tool LIFTOFF 33: Value for PLC (P1) 34: Value for PLC (P2) 35: Value for PLC (P3) 36: Point angle for tool types DRILL and CSINK (T-ANGLE) 37: Thread pitch for tool type TAP (PITCH) CM PL PL
9350 B/W/D B/W/D
0: No error, element value was read 1: Module was not called in a spawn job or submit job 2: File type does not exist 3: No tool table with status M 4: Line number does not exist 5: Incorrect element number
Error recognition: Marker
Value
Meaning
M4203
0
Element value read
1
Error code in W1022
2
Incorrect element number
W1022
September 2006
7
Line number does not exist
20
Module was not called in a spawn job or submit job
36
No tool table with status M
Tool Changer
8 – 245
Module 9351 Write data to tool table Module 9351 writes the contents of a cell in the tool table with the status M. The value must be given as an integer value. Call: PS PS PS PS CM PL
B/W/D/K B/W/D/K –1: Write all indexes of a tool B/W/D/K See Module 9350 B/W/D/K 9351 B/W/D 0: No error, element value was written 1: Module was not called in a spawn job or submit job 2: File type does not exist 3: No tool table with status M 4: Line number does not exist 5: Incorrect element number 6: Element value is out of range 7: Error while writing to the file
Error recognition: Marker
Value
Meaning
M4203
0
Element value written
1
Error code in W1022
W1022
8 – 246
2
Incorrect element number
7
Line number does not exist
20
Module was not called in a spawn job or submit job
36
No tool table with status M
HEIDENHAIN Technical Manual iTNC 530
Definition of the tool magazine using magazine rules
You can usually place more than one tool type in a tool magazine. Depending on the tool, however, surrounding pockets may have to be locked. The ASCII file *.TCR contains magazine rules for such definitions. 8
In OEM.SYS, use the keyword TCHRULES = to enter the name and path of the ASCII file *.TCR.
or 8
Use Module 9343 to compile the ASCII file with the magazine rules
8
Create the file *.TCR with the following keywords.
Keyword
Meaning
[magazine]a
All the following rules apply to the tool magazine a. Example: [magazine]4
[search]a = a b ... Definition of the search sequence for the tool type a. The tool type named first (here a) is searched for first, then the next tool type (separated by a space) (here b). You may only enter tool types in whose pockets tools of the type a may be placed! Example: [search]1 = 1 2 [tooltype]a
All the following rules apply to the tool type a. 20 tool types can be specified. Example: [tooltype]2
[place]a = bx cx ... Description of the pocket a. Define the pockets (here b and c) that are affected by pocket a when the current tool type (keyword [tooltype]a) is placed there. Immediately after the pocket number the identifier x follows, indicating which area of the pocket is affected (r = right area, l = left area, b = bottom area, a = top area) Example: [place]21 = 20r 22l Note As of NC software 340 422-03 and 340 480-03, you must define the search sequence for each magazine separately, not just globally at the beginning of the *.TCR file. If the search sequence is to be defined the same for each magazine, then it must be repeated after each magazine definition.
September 2006
Tool Changer
8 – 247
The following columns in the pocket table are used for magazine rules: PTYP: Tool type RSV: Reserved pocket P1 to P5: Values 1 to 5 for evaluation in the PLC (e.g., axis positions of a pocket in the box magazine). Module 9304 copies the values to a word memory. LOCKED_ABOVE: Pocket above is locked LOCKED_BELOW: Pocket below is locked LOCKED_LEFT: Pocket to the left is locked LOCKED_RIGHT: Pocket to the right is locked With FN18: SYSREAD ID51 the cells of the pocket table can be read. Module 9340 searches magazine for vacant, reserved or unavailable pockets. Module 9342 uses a tool number to determine the magazine number and pocket number. Module 9341 processes the pockets depending on the magazine rules. Pockets can be reserved, released and made unavailable. Module 9216 is used to display a selection list in a pop-up window for placing tools into magazines and for removing them. The selection list is created by the NC at run time, and contains tools with and without pocket assignment as well as empty pockets. The user selects an entry from the selection list with the arrow keys, and Module 9216 reports the selection to the PLC for further processing.
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HEIDENHAIN Technical Manual iTNC 530
Example for a description of the tool magazine using magazine rules: Pocket table PTYPE ... 4.19 ... 1 4.20 ... 1 4.21 ... 2 4.22 ... 1 4.23 ... 1 ...
Magazine 4
...
1
1
2
1
1
19
20
21
22
23
...
... ... ... ... ...
OEM.SYS: ... TCHRULES = PLC:\RULES.TCR ...
Search sequence for tool type 2: Only pockets for tool type 2
From this point on, definition of rules for tool type 2
September 2006
RULES.TCR: ... [magazine]4 [search]1 = 1 2 [search]2 = 2 ... [tooltype]2 ... [place]21 = 20r 22l ...
From this point on, definition of rules for magazine 4
Search sequence for tool type 1: First pockets for tool type 1, then pockets for tool type 2
Definition of the rules for pocket 21: Right half of pocket 20 and left half of pocket 22 are locked
Tool Changer
8 – 249
Module 9216 Pop-up window with tool selection list Module 9216 opens a pop-up window in which the arrow keys are used to make a selection for the tool management. The selection list is created by the NC at the run time for the module. The module responds with the tool or pocket number for further processing. Entries using the iTNC keyboard are registered by the pop-up window. The pop-up window is only shown in the machining modes. If another pop-up window is active, this window is placed in the background. After the pop-up window with the selection list is closed, this other pop-up window is returned to the foreground. If the pop-up window with the selection list is active, and another pop-up window is opened, any keystrokes on the iTNC keyboard will be registered by the second pop-up window, not by the selection list. The module should be called in its own spawn process, since the module does not return until the pop-up window is closed, and would therefore block all subsequent submit jobs. Call: PS
PS PS CM PL
B/W/D/K 0: Tools in tool table not in the magazine 1: Tools in tool table in the magazine 2: Empty pockets in the magazine B/W/D/K Only for mode 2 B/W/D/K Only for mode 2 (determining the tool type) 9216 B/W/D –1: Error code in W1022 –2: General error –3: Selection list closed without selection –4: Menu file not available –5: Pop-up window cannot be opened –6: Selection window already active –7: Selection window not available –8: Menu file without selection list
Error recognition: Marker
Value
Meaning
M4203
0
Selection complete
1
Error code in W1022
1
Line in the pocket table could not be found
2
Invalid magazine number
3
Invalid mode
4
Invalid tool number or type
6
Tool number is already contained in the pocket table
W1022
8 – 250
20
Module was not called in a spawn job or submit job
36
File error in the tool or pocket table
45
Module execution canceled, see return value for error
HEIDENHAIN Technical Manual iTNC 530
Module 9304 Copying columns P1 to P5 to the pocket table Module 9304 transfers the contents of columns P1 to P5 from the pocket table to the defined double-word address. Call: PS PS PS CM
B/W/D/K B/W/D/K B/W/D/K 9304
Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
Columns copied
1
Error code in W1022
W1022
1
Invalid pocket number
2
Invalid magazine number
4
Invalid double-word address
20
Module was not called in a spawn job or submit job
36
File error in pocket table
Tool Changer
8 – 251
Module 9340 Searching for a pocket depending on magazine rules Module 9340 searches a tool magazine for vacant, locked or unavailable pockets. The search for free pockets is according to the magazine rules. Call: PS PS PS PS
CM PL
B/W/D/K B/W/D/K B/W/D/K B/W/D/K
Bit 0=0: Transfer tool number Bit 0=0: Transfer tool type Bit 1=1: Search for a free pocket (depending on magazine rules) Bit 2=1: Search for a reserved pocket Bit 3=1: Search for an unavailable pocket
9340 B/W/D/K -1: Error code in W1022 –2: No free pocket or tool not found
Error recognition: Marker
Value
Meaning
M4203
0
Search for pocket completed
1
Error code in W1022
W1022
8 – 252
1
Invalid pocket number
2
Invalid magazine number
3
Invalid mode
4
Invalid tool number or type
20
Module was not called in a spawn job or submit job
36
File error in the tool or pocket table
45
Module execution canceled, see return value for error
HEIDENHAIN Technical Manual iTNC 530
Module 9341 Editing a pocket table depending on magazine rules Module 9341 reserves, releases, or makes pockets unavailable in the pocket table, in accordance with the magazine rules. The module affects the columns RSV, LOCKED_ABOVE, LOCKED_BELOW, LOCKED_LEFT, and LOCKED_RIGHT. Therefore these columns may not be changed manually nor by the PLC program. Call: PS PS PS PS
B/W/D/K B/W/D/K B/W/D/K B/W/D/K
CM
9341
0: Release pocket (depending on magazine and tool number) 1: Release pocket (depending on magazine and pocket number) 2: Reserve pocket (depending on magazine, pocket and tool number) 3: Make pocket unavailable (depending on magazine and pocket number) 4: Reserve pocket if previously unavailable (depending on magazine and pocket number)
Error recognition: Marker
Value
Meaning
M4203
0
Pocket table edited
1
Error code in W1022
1
Invalid pocket number
2
Invalid magazine number
W1022
September 2006
3
Invalid mode
4
Invalid tool number
6
Reservation not possible
7
Magazine rules not compiled or not present
20
Module was not called in a spawn job or submit job
36
File error in pocket table
Tool Changer
8 – 253
Module 9342 Find magazine and pocket number Module 9342 determines the magazine and pocket number from the tool number. The module takes the RSV column of the pocket table into account if magazine rules are in effect. If the module is used to find reserved pockets, it returns the first reserved pocket with ascending magazine number. However, further pockets can be reserved. In this case the search must be repeated with another “start magazine for the search.” Call: PS PS
PS CM PL PL
B/W/D/K B/W/D/K 0: Look for occupied pocket 1: Look for reserved pocket B/W/D/K 9342 B/W/D/K –1: Magazine could not be found B/W/D/K –1: Pocket could not be found
Error recognition:
8 – 254
Marker
Value
Meaning
M4203
0
Magazine and pocket number found
1
Error code in W1022
W1022
1
Invalid mode
2
Invalid start magazine for the search
20
Module was not called in a submit job or spawn job
30
Tool not found
36
File error in pocket table
HEIDENHAIN Technical Manual iTNC 530
Module 9343 Compilation and activation of magazine rules Module 9343 is used to compile and activate magazine rules (*.TCR), independent of the entry TCHRULES = in OEM.SYS. If the entry exists in OEM.SYS, the magazine rules are overwritten when Module 9343 is called. If an error occurs during compilation, the PLC program is stopped. The magazine rules must be activated during the first run of the PLC program or before the first call of Modules 934x. Call: PS CM
B/W/D/K/S 9343
Error recognition: Marker
Value
Meaning
M4203
0
Magazine rules have been compiled and activated
W1022
Pocket exchange in the pocket table
September 2006
1
Error code in W1022
11
Invalid string programmed
20
Module was not called in a spawn job or submit job
38
Error during compilation
To switch the pockets of two tools in the pocket table: 8
Lock the pocket table with Module 9300.
8
Switch the pockets with Module 9305.
8
Release the pocket table with Module 9300.
Tool Changer
8 – 255
Module 9300 Locking/releasing the pocket table Module 9300 locks the pocket table for pocket switching with Modules 9305 or 9306, then releases it again. As long as the pocket table is locked, a tool change is not sent from the NC to the PLC. Instead, the error message Tool preselection is running appears. As soon as the pocket table has been released, the tool change is output from the NC to the PLC. Call: PS
CM PL
B/W/D/K 0: Release the pocket table 1: Lock the pocket table 9300 B/W/D 0: Pocket table locked/released 1: Pocket table could not be locked 2: Pocket table could not be released 3: Transfer parameter invalid 4: Module was not called in a submit job or spawn job 5: Module was called during the NC program run
Error recognition: Marker
Value
Meaning
M4203
0
Pocket table locked/released
1
Error code in W1022
2
Invalid parameter for locking/releasing the pocket table
6
Pocket table was already locked/released
20
Module was not called in a spawn job or submit job
21
Module was called during an NC program run
W1022
Module 9305 Tool exchange in the pocket table Module 9305 is used to exchange the tools in the pocket table. Only column T (tool number) is changed. All other columns remain unchanged. The pocket table must be locked with Module 9300 before switching the pockets, and then it must be released again. Call: PS PS CM
B/W/D/K B/W/D/K 9305
Error recognition:
8 – 256
Marker
Value
Meaning
M4203
0
Pocket has been exchanged
1
Error code in W1022
W1022
2
Invalid parameter
6
Magazine management using magazine rules is active
20
Module was not called in a spawn job or submit job
21
Module was called during an NC program run
30
No valid tool in the original pocket
HEIDENHAIN Technical Manual iTNC 530
Managing multiple tool magazines
Up to four different tool magazines can be managed in the pocket table. In the pocket table the tool magazines are listed from 1 to 4, i.e., tool magazine 1 with tool 1 to is in first position. Immediately thereafter, tool magazine 2 appears with tool 1 to , then tool magazine 3, etc. 8
Enter the number of pockets in tool magazines 1 to 4 in MP7261.0 to MP7261.3.
The current tool magazine number is saved in W268. Module 9302 searches for an open pocket in a tool magazine, and Module 9306 switches tools between the tool magazines. Module 9301 determines the number of the entry in the pocket table. The number of the entry depends on the tool magazine and pocket numbers. 8
Enter this number in the modules which cannot accept tool magazine numbers (e.g. Modules 9092, 9093, 9094).
W268 Tool magazine number –1: External tool 0: Tool in the spindle 1 to 4: Number of the tool magazine
September 2006
Tool Changer
Set
Reset
NC
NC
8 – 257
Module 9301 Find the number of an entry in the pocket table Module 9301 determines the number of an entry in the pocket table. This number is necessary for the modules in which no tool magazine numbers can be entered. Call: PS PS CM PL
B/W/D/K B/W/D/K 9301 B/W/D –1: M4203 = 1
Error recognition: Marker Value
Meaning
M4203
0
Number of the entry was found
1
Error code in W1022
1
Invalid tool magazine number
W1022
2
Invalid pocket number
20
Module was not called in a spawn job or submit job
Module 9302 Search for a vacant pocket in the tool magazine Module 9302 searches for a vacant pocket in a tool magazine. Call: PS PS CM PL
B/W/D/K B/W/D/K 9302 B/W/D –1: No vacant pocket available
Error recognition: Marker
Value
Meaning
M4203
0
Vacant pocket was found
1
Error code in W1022
W1022
8 – 258
1
Invalid pocket number
2
Invalid tool magazine number
20
Module was not called in a spawn job or submit job
36
Error in file handling
HEIDENHAIN Technical Manual iTNC 530
Module 9306 Exchange tools between tool magazines With Module 9306, tools are exchanged between tool magazines. The pocket table must be locked with Module 9300 before calling this module, and then it must be released again. In the original and new entry only the tool number is changed. Pocket-specific data remains unchanged. The module must be called at standstill or during a strobe output. Call: PS PS PS PS CM
B/W/D/K B/W/D/K B/W/D/K B/W/D/K 9306
Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
Pocket has been exchanged
1
Error code in W1022
W1022
1
Invalid pocket number
2
Invalid tool magazine number
6
Magazine management using magazine rules is active
20
Module was not called in a spawn job or submit job
21
Module was called during an NC program run
30
No valid tool in the original pocket
36
Error in file handling
Tool Changer
8 – 259
Special tools
In the pocket table: 8
In the column ST you define tools as special tools.
For oversized special tools: 8
Leave a pocket free in the tool magazine on both sides of the pocket (see illustration).
8
In the column L you lock pockets that are to remain empty.
8
With M4541, block the variable tool-pocket coding for special tools.
P5
P6
P7
P8
P9
P10
As soon as M4541 is set, all special tools are returned to their original pocket in spite of the “variable tool-pocket coding” function. With the column F (fixed pocket) you can define this function selectively for individual tools. Set M4541
8 – 260
Special tool in original pocket in spite PLC of variable pocket coding
Reset PLC
HEIDENHAIN Technical Manual iTNC 530
Tool life, replacement tool
You can enter two tool life values (TIME1 and TIME2) and one replacement tool (RT) for each tool in the tool table. For the TOOL CALL: CUR.TIME (current tool age) > TIME2: Pocket or tool number (MP7480) of the replacement tool and a T strobe M4073 are output and M4525 is set. CUR.TIME (current tool age) > TIME2 > 0 and no replacement tool is defined: After expiration of the time, the error message Max. tool age expired is displayed for this tool, and M4546 and M4525 are set. CUR.TIME (current tool age) > TIME1: The NC sets M4543 and M4525. You decide in the PLC what should happen when M4543 or M4546 is set (e.g. display a PLC error message). With M101, activate the automatic insertion of the replacement tool after expiration of the tool age (TIME1 or TIME2). With M102, deactivate the insertion. The tool is not changed immediately after expiration of the tool life, but rather it varies depending on the processor load. The tool change is transmitted delayed by at least one block and by no more than one minute. In order to also be able to activate the automatic insertion of the replacement tool with TCPM, you must program a retraction with M140 in the tool change macro. After the tool change, the tool moves with an approach logic to the precompensated position and then returns to the contour. To synchronize the current machine status and the look-ahead calculation with an NC macro call, see “NCMACRO.SYS” on page 9 – 30. Note In standard NC programs (NC block with RR, RL or R0), the same radius must be defined for the replacement tool as for the original tool. No radius compensation is given in NC blocks with normal vectors. One delta value for tool length and radius (DR and DL) can be entered for each tool in the tool table. These delta values are taken into account by the iTNC. If the radius of the replacement tool differs from the original tool, you must define this in the DR column. The delta value must always be negative. If you enter a positive delta value, the error message Tool radius too large appears. You can suppress this error message with the M function M107, and reactivate it with M108. You can select whether the tool length is given with respect to the south pole or the ball center of a spherical cutter: 8
September 2006
With MP7680, select whether the tool radius (R2) should be taken into account for the calculation of the tool length.
Tool Changer
8 – 261
The current tool age is calculated in the Program Run, Single Block und Program Run, Full Sequence operating modes if the following conditions are fulfilled. Spindle ON No F MAX F enable Control-in-operation symbol is on After program interruption with “internal stop,” M02, M30 or END PGM, the tool age counter is stopped. The tool age counter does not run in the Manual, Electronic Handwheel and Positioning with MDI operating modes. The user can reset the current tool age by entering zero.
M4543 M4546
MP7680 Input:
8 – 262
Tool life 1 expired (TIME1 in the tool table) Tool life 2 expired (TIME2 in the tool table)
Set
Reset
NC
NC/PLC
NC
NC/PLC
Machine parameter with multiple function Bit 6 – Tool length in blocks with normal vectors: 0: Without R2 from tool table (south pole) 1: With R2 from tool table (center of sphere)
HEIDENHAIN Technical Manual iTNC 530
Indexed tools
You can also work with indexed tools in the tool table, e.g., when you use a stepped drill with more than one length compensation value. For indexed tools, the tool number is given an index (e.g. 1.1). 8
In MP7262, enter the maximum tool index number.
The index number of the programmed tool is saved in W266. If you are working with indexed tools and wish to use Modules 9092, 9093 or 9094, you must first find the line number of the tool, since these modules will need it. As an alternative you can use Modules 9350 and 9351; the tool number and tool index can be transferred in these modules. 8
Use Module 9091 to determine the line number of a tool in the tool table.
MP7262 Input:
Maximum tool index number for indexed tools 0 to 9
W266
Index number of a programmed indexed tool
Set
Reset
NC
NC
Module 9091 Find the line number of a tool in the tool table Call: PS B/W/D/K PS B/W/D/K CM 9091 PL B/W/D Error recognition:
September 2006
Marker
Value
Meaning
M4203
0
Line number was found
1
Error code in W1022
W1022
2
Invalid value for tool or tool index number
20
Module was not called in a submit job or spawn job
29
Tool table (TOOL.T) not found
30
Tool number not found
32
Tool index number not found
Tool Changer
8 – 263
8.14.2 Tool-Usage Test When testing an NC program in the Test Run operating mode (calculate machining time: active) or via an LSV2 command, a tool-usage file (*.T.DEP) can be created automatically. It contains all required tools (number, index, name, radius), the machining times (at 100% override) and their program calls. 8
Enable the function for generating the tool-usage file with MP7246 bit 2=1.
In the Program Run, Single Block and Program Run, Full Sequence operating modes, press the TOOL USAGE TEST soft key to compare the data in the toolusage file with the data in the tool table. If the tool-usage file is not current or does not exist, the error message Generate tool usage file! appears. Otherwise a popup window with the results of the comparison appears. The value entered for TIME2 in the tool table must be at least 10% greater than the time required. MP7246 Input:
Tool usage test for pallet tables
8 – 264
Machine parameter with multiple function Bit 2 – Tool usage file 0: Do not generate 1: Generate
The TOOL USAGE TEST soft key is also available for pallet tables. If a line with an NC program is active, the test is performed only for the NC program in question. The tool-usage file must first have been created in the Test Run operating mode. If a line with a pallet entry is active, the test is performed for the complete pallet table. The tool-usage files of the NC programs called must first have been created in the Test Run operating mode. One tool-usage file is created for the entire pallet table. With Module 9282, the tool-usage test for a pallet table can be performed by the PLC. One tool-usage file is created for the entire pallet table.
HEIDENHAIN Technical Manual iTNC 530
Module 9282 Tool usage test for pallet table Module 9282 allows you to check the tools used in a pallet table. The pallet file must be selected in the Program Run, Single Block or Program Run, Full Sequence operating mode. The tool usage file for the pallet table and the test result file in ASCII format are created. The test result file contains the results from the comparison of the tool usage file with the tool table. If a pallet call is given as the line number, all subordinate machining operations are checked. If a program call is given, only the tool usage file of the NC program is checked. Call: PS PS PS CM PL
B/W/D/K B/W/D/K/S B/W/D/K/S 9282 B/W/D 0: No error 1: Tool usage file of an NC program of the pallet table not available or no longer up-to-date 2: Tool life not sufficient 3: Required tool not available 4: Radius of required tool is incorrect 5: Tool is not in magazine 6: Tool usage file of an NC program of pallet table cannot be opened 7: Test result file could not be created 8: Test result file cannot be written to 9: Tool usage file of an NC program of pallet table cannot be read 10: No memory for creating the tool usage file
Error recognition: Marker
Value
Meaning
M4203
0
Tool usage test has been performed
1
Error code in W1022
W1022
September 2006
11
Invalid string programmed
20
Module was not called in a spawn job or submit job
Tool Changer
8 – 265
Structure of the tool-usage file
The columns of the tool-usage file have the following meanings: Column
Description
NR
Line number
TOKEN
TOOL: Usage time per TOOL CALL; the entries are listed in chronological order TTOTAL: Total usage time of a tool STOTAL: Call of a subprogram (incl. cycles); the entries are listed in chronological order
TNR
Tool number (–1: no tool inserted yet)
IDX
Tool index
NAME
Tool name
TIME
Tool-usage time in seconds
RAD
Tool radius R + Oversize for tool radius DR; Data from the tool table in 1/10 µm
BLOCK
Line number with TOOL CALL
PATH
Token = TOOL: Active program or sub program Token = STOTAL: File name of the subprogram or cycle
Example of a tool-usage file:
NR 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 [END]
8 – 266
TOKEN TOOL TOOL TOOL TOOL TTOTAL TTOTAL TTOTAL STOTAL STOTAL STOTAL STOTAL STOTAL STOTAL STOTAL STOTAL STOTAL
TNR +2 +3 +4 +2 +3 +4 +2 +0 +0 +0 +0 +0 +0 +0 +0 +0
IDX +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0
NAME MILLER2 DRILLER1 DRILLER2 MILLER2 DRILLER1 DRILLER2 MILLER2
TIME +144 +7 +100 +1588 +7 +100 +1732 +0 +0 +0 +0 +0 +0 +0 +0 +0
RAD +60000 +30000 +40000 +60000 +30000 +40000 +60000 +0 +0 +0 +0 +0 +0 +0 +0 +0
BLOCK +4 +9 +11 +14 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0
PATH TNC:\Stefan\Test\TOOLING.H TNC:\Stefan\Test\TOOLING.H TNC:\Stefan\Test\TOOLING.H TNC:\Stefan\Test\TOOLING.H
SYS:\JHCYC\NC\252.CYC SYS:\JHCYC\NC\INIT25X.CYC SYS:\JHCYC\NC\PSRD25X.CYC SYS:\JHCYC\NC\MILL25X.CYC TNC:\Stefan\Test\DRILL.H SYS:\JHCYC\NC\200.CYC TNC:\Stefan\Test\DRILL2.H SYS:\JHCYC\NC\205.CYC SYS:\JHCYC\NC\251.CYC
HEIDENHAIN Technical Manual iTNC 530
8.14.3 Automatic Calculation of Cutting Data The optimum spindle speed and the corresponding contouring feed rate is calculated from the values entered in cutting tables for the tool and workpiece material. For cutters, the cutting data table lists the cutting speed and the feed rate per tooth. For drills it lists the feed rate per revolution. S =
v ⋅ 1000
c ----------------
d⋅π
S: Spindle speed [rpm] vc: Cutting speed [m/min] d: Tool diameter [mm] Milling cutter: F = fz · S F: Feed rate [mm/min] fz: Feed rate per tooth [mm] z: Number of teeth Drill: F = fu · S fu: Feed rate per revolution [mm] Tool table
8
In the CDT column of the tool table, enter the name of the cutting data table that is to be used for that tool.
8
In the TYPE column define the type of tool: • DRILL = Drilling tool • TAP = Tapping tool • MILL = Milling cutter
8
Enter the following values in the table: • Tool radius R • Tool material TMAT • For cutter: Number of teeth CUT.
The tool types are defined in the file PLC:\TTYP.TAB. If you edit this file, you must use the command TTYP = to enter the new name and path in the system file OEM.SYS.
September 2006
Tool Changer
8 – 267
Cutting data table
The cutting data for specific tools are available from the tool manufacturer. Cutting data tables have the file name extension .CDT. Each line in the cutting data table contains the data for a specific combination of workpiece and tool material. For milling cutters you can enter up to four cutting speeds with the corresponding feed rates per teeth. In the tables of the manufacturers these data are specified for different infeeds and for climb and up-cut milling. For drills you enter a cutting speed with the corresponding feed rate per revolution. A standard cutting data table is saved in the root directory of the iTNC (TNC:\). You can add as many cutting data tables as desired. If you change the standard cutting data table, you must copy the changed table to another path. Otherwise your changes will be overwritten with HEIDENHAIN standard data during the next software update: 8
Material tables
In the system file TNC.SYS, use the code word PCDT = to enter the path in which your cutting data tables are saved.
The workpiece materials used are defined in the table WMAT.TAB, the tool materials in the table TMAT.TAB. Standard tables are in the root directory of the TNC (TNC:\). You can arbitrarily expand and change all tables. If you change the tables, you must copy them to another path. Otherwise your changes will be overwritten with HEIDENHAIN standard data during the next software update: 8
In the system file TNC.SYS, use the code words TMAT = and WMAT = to enter the path and file names of your tables.
In the material data tables:
8 – 268
8
In the Name column, enter a brief name for the material (e.g. HSS).
8
Enter additional information on the material in DOC column.
HEIDENHAIN Technical Manual iTNC 530
Calculation of cutting data
8
Define the workpiece material in the NC program with the WMAT soft key.
The TOOL CALL block provides soft keys for automatic acceptance of various speeds (S1 to S4) and for the selection of the feed rate (F1 to F4). If you enter the spindle speed manually, this value is taken into account in the calculation of the feed rate. You cannot, however, enter F for calculation of S. If you enter the feed rate manually, the entered value applies until you program another feed rate. With the F AUTO soft key you can again activate the feed rate from the TOOL CALL block.
Principle
8.14.4 Automatic Tool Recognition Automatic tool identification is possible with the Balluff tool identification system (BIS). Please contact HEIDENHAIN for further information.
September 2006
Tool Changer
8 – 269
8.14.5 Controlling the Tool Changer You program the control of the tool changer in the PLC. This includes: Positioning of the changing arm and carousel Tool change sequence The NC handles the tool management. This includes: Tool life Pocket assignment Evaluation of the TOOL DEF blocks Evaluation of the TOOL CALL blocks The NC and PLC communicate through markers and words. For execution of the TOOL CALL block, the NC takes the tool geometry data from the tool table: 8
Activate with M4538 the geometry of the tool defined in W264. With this marker you make sure that the current tool geometry is always active even if the tool change sequence is cancelled. CAUTION: Activate only together with an M/S/T/Q strobe or if M4176 = 0 (control-in-operation display is lit or blinking)!
With the TOOL DEF block you can pre-position the tool changer: 8
After a tool has been changed, program the next tool with TOOL DEF.
8
Evaluate the tool and pocket number and pre-position the tool changer to the follow-up tool via a PLC positioning.
8
In MP7682 bit 6 you specify the behavior of the control when a TOOL DEF strobe is current.
Bit 6 = 1: The control always waits for an acknowledgment of the TOOL DEF strobe by the PLC before continuing with the NC program. Bit 6 = 0: Continuation of the NC program depends on the NC program. If the TOOL DEF is within a contiguous contour, then an acknowledgment of the TOOL DEF strobe is not waited for. Depending on the type of tool changer, this behavior can lead to problems: Example:
8 – 270
NC program
Description
... L IX+50 F500 ... TOOL DEF 1 ... L IX+50 F500
The TOOL DEF block is within a contiguous contour. The acknowledgment of the strobe is not waited for.
... ... TOOL DEF 1 ... L IX+50 F500
The TOOL DEF block is not within a contiguous contour. The acknowledgment of the strobe is waited for.
HEIDENHAIN Technical Manual iTNC 530
MP7682 Input:
Calling an NC program with TOOL CALL
Machine parameter with multiple function Bit 6 – Behavior with TOOL DEF strobe 0: Depending on the NC program, the TOOL DEF strobe must be acknowledged by the PLC (TOOLDEF within a contiguous contour) 1: TOOL DEF strobe must always be acknowledged by the PLC
With the NC block TOOL CALL you can call an NC program of your own definition: 8
With the keyword TC = \ in the PLC:\NCMACRO.SYS file, define the name of the NC program to be called.
To synchronize the current machine status and the look-ahead calculation with an NC macro call, see “NCMACRO.SYS” on page 9 – 30. The tool geometry is not taken over then. You must program a TOOL CALL at another place to update the tool data. NC functions that must be reset at the beginning of a tool-change macro: The tool-change macro requires non-radius-compensated movements with M91 (coordinates refer to the machine datum) or M92 (coordinates refer to a position defined by the machine manufacturer): M103 (Reduce feed rate during plunging to factor F) M112 (Insert rounding radius between nontangential straight lines) M114 (Automatic correction of machine geometry when machining with tilting axes) M118 (Superimpose handwheel positioning during program run) M124 (Ignore points when machining non-radius compensated straight line blocks) M128 (Retain position of tool tip when positioning tilting axes) or FUNCTION TCPM Cycle19 (WORKING PLANE) or PLANE Possibly M126 (Permit zero crossover on 360° rotary axes), if rotary axes are moved and their traverse ranges permit multiple paths. Possibly M136 (Feed rate F in millimeters per spindle revolution), if feed rates other than FMAX are used. Possibly M144 (Compensating the machine’s kinematics configuration for ACTUAL/NOMINAL positions at end of block), if this function is activated via MP7502. Possibly Cycle 32 (TOLERANCE), if a certain tolerance (MP1096.x) is required in the tool-change macro.
September 2006
Tool Changer
8 – 271
Program example: Positioning to the tool change position: 8
Preferably file the program in the PLC partition so that it cannot be changed by the end user.
The tool data in the current program are not active. They must be requested with FN18: SYSREAD (see “Data Transfer NC > NC Program (FN18: SYSREAD)” on page 9 – 40). 8
In the called program, enter a TOOL CALL so that the tool data becomes active and a T strobe is transferred to the PLC.
With FN17: SYSWRITE you can overwrite the software limit switch for the toolchange position. If you use FN18: SYSREAD to call the programmed position after the TOOL CALL, you can program a continuous positioning movement of the spindle from the tool magazine to the next position. With FN20: WAIT FOR you can delay execution of the NC program until the entered condition is fulfilled. These conditions can be comparisons of a PLC variable with a constant (see “Interrogate PLC Operands in the NC Program (FN20: WAIT FOR)” on page 9 – 53). With FN17: SYSWRITE ID420 NR0 IDX0 = 0, all coordinate transformations (e.g. cycles 7, 8, 10, 11, 19) performed in the tool-change program become globally effective. Without this block, they remain locally effective (only in the toolchange program). With FN18: SYSREAD ID61 NR0 IDX you find the corresponding tool-change sequence. This information is reported to the PLC at the same time with the pocket and magazine number. You can also find this information with Module 9035. To ensure that during a block scan the tool-change program is not run until the end of the scan, you must enter the instruction NCMACRO = TC in the MGROUPS.SYS file (also see “Returning to the Contour” on page 8 – 50). If no NC program is specified in the NCMACRO.SYS file, the TOOL CALL is executed without calling the tool-changing program. For test purposes, the tool-change program can be called from the TNC partition. In this case, the program call is handled as PGM CALL, i.e. defined values such as Q parameters and feed rate remain globally effective. If the tool-change program is called from the PLC partition, the tool-change program is handled as a cycle call, i.e. defined values remain only locally effective. Note In contrast to the TNC 426/TNC 430, the iTNC 530 handles the tool number and tool index as two separate parameters. Therefore, with the iTNC 530, the tool number must be read with FN18: SYSREAD Q1 = ID60 NR1 and the tool index with FN18: SYSREAD Q7 = ID60 NR8. Both values are then transferred in TOOL CALL Q1 .Q7.
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0 BEGIN PGM TOOLCALL MM 1 * - ? DATUM SHIFT PLC OFF/ON 2 * - 3D ROTATION OFF/ON 3 * - READ TOOL CALL DATA 4 FN18: SYSREAD Q1 = ID60 NR1 IDXO ; Tool number 5 FN18: SYSREAD Q2 = ID60 NR2 IDXO ; Tool axis 6 FN18: SYSREAD Q3 = ID60 NR3 IDXO ; Spindle speed 7 FN18: SYSREAD Q4 = ID60 NR4 IDXO ; Oversize in tool length DL 8 FN18: SYSREAD Q5 = ID60 NR5 IDXO ; Oversize in tool radius DR 9 FN18: SYSREAD Q6 = ID60 NR6 IDX0 ; Oversize in tool radius DR2 10 FN18: SYSREAD Q7 = ID60 NR7 IDX0 ; Tool index 11 * - T-NEW POSITION AXIS 7 (FKA) 12 FN 18: SYSREAD Q6 = ID2000 NR70 IDX98; Read W98 13 * - POSITION AXIS 8 (FK) 14 FN 18: SYSREAD Q7 = ID2000 NR80 IDX98; Read D98 15 * - TC Z SAFETY CLEARANCE 16 L Z+0 R0 F MAX M91 17 * - ALIGN SPINDLE M21 18 M21 19 FN 18: SYSREAD Q8 = ID1000 NR4210 IDX11 ; Read MP4210.11 20 FN 18: SYSREAD Q9 = ID1000 NR4210 IDX12 ; Read MP4210.12 21 FN 18: SYSREAD Q10 = ID230 NR3 IDX2 ; Pos. software limit switch Y 22 * - OPEN TRAVERSE RANGE Y 23 Q9 = Q6 + 0.5 24 FN 17: SYSWRITE ID230 NR3 IDX2 = +Q9 25 * - TC Z APPRAOCH AREA 26 L Y+Q6 R0 F MAX M91 27 L Z+Q7 R0 F MAX M91 28 * - TOOL MACRO ACTIVE ? 29 FN 20: WAIT FOR SYNC M1999==1 30 * - WRITE TOOL CALL DATA ->PLC 31 FN 9: IF +Q2 EQU +0 GOTO LBL 11 32 FN 9: IF +Q2 EQU +1 GOTO LBL 12 33 FN 9: IF +Q2 EQU +2 GOTO LBL 13 34 FN 9: IF +Q2 EQU +3 GOTO LBL 14 35 FN 9: IF +Q2 EQU +4 GOTO LBL 15 36 FN 9: IF +Q2 EQU +5 GOTO LBL 16 37 TOOL CALL Q1 SQ3 DL+Q4 DR+Q5 38 FN 9: If +0 EQU +0 GOTO LBL 17 39 LBL 11 40 TOOL CALL Q1 .Q7 X SQ3 DL+Q4 DR+Q5 DR2:+Q6 41 FN 9: If +0 EQU +0 GOTO LBL 17 42 LBL 12 43 TOOL CALL Q1 .Q7 Y SQ3 DL+Q4 DR+Q5 DR2:+Q6 44 FN 9: If +0 EQU +0 GOTO LBL 17 45 LBL 13 46 TOOL CALL Q1 .Q7 Z SQ3 DL+Q4 DR+Q5 DR2:+Q6 47 FN 9: If +0 EQU +0 GOTO LBL 17 48 LBL 14 49 TOOL CALL Q1 .Q7 U SQ3 DL+Q4 DR+Q5 DR2:+Q6 50 FN 9: If +0 EQU +0 GOTO LBL 17 51 LBL 15 52 TOOL CALL Q1 .Q7 V SQ3 DL+Q4 DR+Q5 DR2:+Q6 53 FN 9: If +0 EQU +0 GOTO LBL 17 54 LBL 16 55 TOOL CALL Q1 .Q7 W SQ3 DL+Q4 DR+Q5 DR2:+Q6
September 2006
Tool Changer
8 – 273
56 57 58 59 60 61 62 Variable and fixed pocket coding
LBL 17 * - Z LEAVE TC AREA L Z+0 R0 F MAX M91 L Y+0 R0 F MAX M91 * - CLOSE TRAVERSE RANGE Y FN 17: SYSWRITE ID230 NR3 IDX2 = +Q8 END PGM TOOLCALL MM
If you work with one magazine, you must specify the type of pocket coding for this magazine: 8
Set MP7482 = %0000.
8
Specify with MP7480.x whether the tool or pocket number is to be transferred to the PLC: • Variable pocket coding: Pocket number must be transferred. Set MP7480.x = 3 or 4. • Fixed pocket coding: Working with the tool number is preferred. Set MP7480.x = 1 or 2.
If you work with more than one magazine, you must specify the type of pocket coding for each magazine individually: 8
Set MP7480.x to 3 or 4 for variable pocket coding.
8
Define in MP7482 the type of pocket coding for each magazine.
Depending on the setting of MP7480.x, the NC transfers either only the number of the programmed tool to word W264 or the tool and pocket number to W262 and W264. The NC sets M4073 (TOOL CALL) or M4074 (TOOL DEF). The strobe markers are not reset until you have set M4093 (TOOL CALL) or M4094 (TOOL DEF after the tool or pocket number, respectively, have been processed. After you have reset the strobe marker, the NC program is resumed (only with TOOL CALL). If a TOOL CALL block is followed by the output of a T strobe and G strobe, then M4547 is set by the output of the T strobe and reset by output of the G strobe. If there is no output of either the T or G strobe, M4547 is not set. If the tool number zero is processed, the NC sets marker M4521. The marker is not reset until there is a TOOL CALL for another tool.
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MP7480 MP7480.0 Input:
MP7480.1 Input:
MP7482 Format:
Input:
W262 W264 M4073 M4074 M4093 M4094 M4521 M4538 M4547
September 2006
Output of the tool or pocket number With TOOL CALL block 0: No output 1: Tool number output only when tool number changes 2: Output of tool number for every TOOL CALL block 3: Output of the pocket number and tool number only when tool number changes 4: Output of pocket number and tool number for every TOOL CALL block 5: Output of the pocket number and tool number only when tool number changes. Pocket table is not changed. 6: Output of pocket number and tool number for every TOOL CALL block. Pocket table is not changed. With TOOL DEF block 0: No output 1: Tool number output only when tool number changes 2: Output of tool number for every TOOL DEF block 3: Output of the pocket number and tool number only when tool number changes 4: Output of pocket number and tool number for every TOOL DEF block Pocket coding of the tool magazine %xxxx 0: Variable pocket coding 1: Fixed pocket coding Bit 0: Magazine 1 Bit 1: Magazine 2 Bit 2: Magazine 3 Bit 3: Magazine 4
Tool pocket number Tool number Strobe signal T code (P code) with TOOL CALL Strobe signal T code (P code) with TOOL DEF Acknowledgment of T code (P code) with TOOL CALL Acknowledgment of T code (P code) with TOOL DEF Tool number zero programmed Geometry of the tool from W264 T and G strobes with TOOL CALL
Tool Changer
Set
Reset
NC NC NC
NC NC NC
NC
NC
PLC
PLC
PLC
PLC
NC PLC NC
NC NC NC
8 – 275
Output of the tool number with fixed pocket coding
For fixed pocket coding of tools you must evaluate the tool number: 8
With MP7480.x, specify when the tool number is to be transferred. • For every TOOL CALL or TOOL DEF block: MP7480.x = 2 • When the tool number changes: MP7480.x = 1 During execution of a TOOL CALL or TOOL DEF block the tool number is saved in W264. W262 is not used. • For MP7480.x = 5 or 6: The pocket number is saved in W262. The assignment of tool and pocket number in the pocket table does not change.
Output of the pocket number with variable pocket coding
With variable pocket coding (MP7480.x = 3 or 4) the pocket number of the called tool is transferred to the PLC and the assignment of tool and pocket number is changed in the pocket table. The current tool number is additionally saved in W264. The NC takes over responsibility for variable pocket management. If you have set M4542, the assignment of tool and pocket numbers in the pocket table does not change, although variable pocket coding was selected. You set this marker, for example, during a block scan (except if MP7681 bit 1=1). 8
In MP7261, enter the number of tools with pocket number. The maximum input value is the number of the pockets in the tool magazine.
In the tool table you can define more tools than can be held by the tool magazine (MP7260 > MP7261). If a tool number is programmed for which no pocket was defined, during a TOOL CALL the pocket number –1 (W262) is transferred and M4523 is set. During programming of TOOL DEF the tool and pocket numbers are transferred. A TOOL DEF for a manual tool has no relevance for the PLC.
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Define in the column F a fixed pocket. If a fixed pocket has been defined for a tool, it will be returned to its original pocket in spite of the variable pocket coding. Set M4520
Another T code (P code) follows with NC TOOL CALL 0: A normal tool follows a normal tool (N Æ N)
Reset NC
Manual tool follows a manual tool (M Æ M) Special tool follows a special tool (S Æ S), if M4541 = 0 1: Special tool follows a manual tool (M Æ S), if M4541 = 1 Special tool follows a special tool (S Æ S), if M4541 = 1 Manual tool follows a special tool (S Æ M) Manual tool follows a normal tool (N Æ M) Normal tool follows a manual tool (M Æ N)
M4522
M4523
M4524 M4525 M4540
M4541 M4542
September 2006
Normal tool follows a special tool (S Æ N) See M4540. Tool with pocket number programmed is in effect with MP7480.0 = 3 or 4 and TOOL CALL Tool without pocket number programmed is in effect with MP7480.0 = 3 or 4 and TOOL CALL Special tool called, TOOL CALL TOOL CALL after expiration of tool life 1: TOOL CALL after expiration of tool life Sequence of tool number or pocket number transfer (M4520 = 1) 0: First the number for the old tool, then the number for the new tool (single changing arm) 1: First the number for the new tool, then the number for the old tool (double changing arm) Special tool in original pocket in spite of variable pocket coding Do not update pocket number in pocket table
Tool Changer
NC
NC
NC
NC
NC NC
NC NC
PLC
PLC
PLC
PLC
PLC
PLC
8 – 277
A variety of tool types can be called from the machining program. The abbreviations below are defined for the following examples: N: Tool for which one pocket is defined in the tool table (Normal) M: Tool for which no pocket number is defined in the tool table. You must change the tool manually (Manual). S: Special tool, definition in the tool table
There are nine possible combinations in the tool-change sequence. For some sequences it is necessary during TOOL CALL to output two pocket or tool numbers in sequence. You can see in M4520 if another tool or pocket number is transferred. The sequence of transfers for tool and pocket numbers can be defined in two manners: Define the sequence in MP7481.x. In this case set M4540 = 0. Define the sequence in M4540. In this case set MP7481.x = %0000. You must evaluate and acknowledge both pocket or tool numbers. As an alternative, all of this information can be found with Module 9035. MP7481 Format:
Input:
MP7481.0 MP7481.1 MP7481.2 MP7481.3
8 – 278
Sequence for new and returned tool when changing tools %xxxx 0: First, output the pocket of the tool to be returned 1: First, output the pocket of the new tool Bit 0: New tool from magazine 1 Bit 1: New tool from magazine 2 Bit 2: New tool from magazine 3 Bit 3: New tool from magazine 4 Tool from magazine 1 to be returned Tool from magazine 2 to be returned Tool from magazine 3 to be returned Tool from magazine 4 to be returned
HEIDENHAIN Technical Manual iTNC 530
Module 9035 Reading status information Call: PS B/W/D/K 50: Tool change sequence (see FN18: SYSREAD ID61 NR0) 51: Pocket number for reserve 52: Magazine number for reserve 53: Pocket number for insertion 54: Magazine number for insertion CM 9035 PL B/W/D Error recognition: Marker
Value
Meaning
M4203
0
No error
1
Error code in W1022
1
Status information invalid
20
Call was not in a submit or spawn job
W1022
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Tool Changer
8 – 279
N → N: Normal tool follows a normal tool
The pocket number and the tool number of the called tool are transferred.
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
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1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. [new N]
W264
Tool No. [new N]
HEIDENHAIN Technical Manual iTNC 530
S → N: Normal tool follows a special tool
With this change sequence, two pocket numbers or two tool numbers must be transferred in succession. M4520 indicates that another TOOL CALL strobe (M4073) will follow: 8
S → N, Single changing arm, M4540 = 0 or MP7481.x, bit x = 0
With M4540 or MP7481.x specify the sequence in which the pocket numbers are transferred, depending on whether single or double changing arm.
First the pocket number of the old tool and the tool number zero are transferred. Zero means clear the spindle! 8
Clear the spindle and acknowledge with M4093. Then the pocket and tool numbers of the new tool are transferred.
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
September 2006
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. [S]
Pocket No. [N]
W264
Tool No. Ø
Tool No. [N]
Tool Changer
8 – 281
S → N, Double changing arm, M4540 = 1 or MP7481.x, bit x = 1
First the pocket and tool numbers of the new tool are transferred. 8
Acknowledge with M4093. Then the pocket tool number of the old tool and the tool number zero are transferred.
Zero means clear the spindle!
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
8 – 282
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. [N]
Pocket No. [S]
W264
Tool No. [N]
Tool No. Ø
HEIDENHAIN Technical Manual iTNC 530
M → N: Normal tool follows a manual tool
With this change sequence, two pocket numbers or two tool numbers must be transferred in succession. M4520 indicates that another TOOL CALL strobe (M4073) will follow. Regardless of M4540 or MP7481.x, the pocket number – 1 and tool number zero are transferred first. Zero means clear the spindle! Pocket number –1 means: no pocket in the tool magazine! 8
Acknowledge with M4093. Then the pocket number and tool number of the new, called tool are transferred.
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
September 2006
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. -1
Pocket No. [N]
W264
Tool No. Ø
Tool No. [N]
Tool Changer
8 – 283
M → M: Manual tool follows a manual tool
Pocket number –1 means: no pocket in the tool magazine!
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
8 – 284
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. -1
W264
Tool No. [new M]
HEIDENHAIN Technical Manual iTNC 530
N → M: Manual tool follows a normal tool
With this change sequence, two pocket numbers or two tool numbers must be transferred in succession. M4520 indicates that another TOOL CALL strobe (M4073) will follow. Regardless of M4540 or MP7481.x, the pocket number of the old tool and tool number zero are transferred first. Zero means clear the spindle! 8
Acknowledge with M4093. Then the pocket number –1 and tool number of the new, called tool are transferred.
Pocket number –1 means: no pocket in the tool magazine!
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
September 2006
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. [N]
Pocket No. -1
W264
Tool No. Ø
Tool No. [M]
Tool Changer
8 – 285
S → M: Manual tool follows a special tool
With this change sequence, two pocket numbers or two tool numbers must be transferred in succession. M4520 indicates that another TOOL CALL strobe (M4073) will follow. Regardless of M4540 or MP7481.x, the pocket number of the old tool and tool number zero are transferred first. Zero means clear the spindle! 8
Acknowledge with M4093. Then the pocket number –1 and tool number of the new, called tool are transferred.
Pocket number –1 means: no pocket in the tool magazine!
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
8 – 286
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. [S]
Pocket No. -1
W264
Tool No. Ø
Tool No. [M]
HEIDENHAIN Technical Manual iTNC 530
S → S: Special tool follows a special tool
8
With M4541 or the column F in the pocket table, specify whether the special tool should be returned to the original pocket in spite of variable pocket coding. • No, M4541 = 0 The same logic program applies for single and double changer arms. • Yes, M4541 = 1 Single and double changer arms have different sequences of pocket number transfer.
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
September 2006
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. [new S]
W264
Tool No. [new S]
Tool Changer
8 – 287
S → S, Single changing arm, M4540 = 0 or MP7481.x, bit x = 0
First the pocket number of the old tool and the tool number zero are transferred. Zero means clear the spindle! 8
Acknowledge with M4093. Then the pocket number and tool number of the new tool are transferred.
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
8 – 288
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. [old S]
Pocket No. [new S]
W264
Tool No. Ø
Tool No. [new S]
HEIDENHAIN Technical Manual iTNC 530
S → S, Double changing arm, M4540 = 1 or MP7481.x, bit x = 1
First the pocket number and tool number of the new tool are transferred. 8
Acknowledge with M4093. Then the pocket tool number of the old tool and the tool number zero are transferred.
Zero means clear the spindle!
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
September 2006
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. [new S]
Pocket No. [old S]
W264
Tool No. [new S]
Tool No. Ø
Tool Changer
8 – 289
N → S: Special tool follows a normal tool
With this change sequence, two pocket numbers or two tool numbers must be transferred in succession. M4520 indicates that another TOOL CALL strobe (M4073) will follow. Regardless of M4541, there is a different sequence for the pocket number transfer for single and double-arm changers (M4540 or MP7481.x).
N → S, Single changing arm, M4540 = 0 or MP7481.x, bit x = 0
First the pocket number of the old tool and the tool number zero are transferred. Zero means clear the spindle! 8
Acknowledge with M4093. Then the pocket number and tool number of the new tool are transferred.
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
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1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. [N]
Pocket No. [S]
W264
Tool No. Ø
Tool No. [S]
HEIDENHAIN Technical Manual iTNC 530
N → S, Double changing arm, M4540 = 1 or MP7481.x, bit x = 1
First the pocket and tool numbers of the new tool are transferred. 8
Acknowledge with M4093. Then the pocket tool number of the old tool and the tool number zero are transferred.
Zero means clear the spindle!
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
September 2006
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. [S]
Pocket No. [N]
W264
Tool No. [S]
Tool No. Ø
Tool Changer
8 – 291
M → S: Special tool follows a manual tool
With this change sequence, two pocket numbers or two tool numbers must be transferred in succession. M4520 indicates that another TOOL CALL strobe (M4073) will follow. Regardless of M4541 and M4540 or MP7481.x, the pocket number –1 and tool number zero are transferred first. Tool number zero means clear the spindle! Pocket number –1 means: no pocket in the tool magazine! 8
Acknowledge with M4093. Then the pocket number and tool number of the new, called tool are transferred.
M4073 M4093 M4520 M4540
M4522 M4523 M4524
M4541
8 – 292
1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
W262
Pocket No. -1
Pocket No. [S]
W264
Tool No. Ø
Tool No. [S]
HEIDENHAIN Technical Manual iTNC 530
8.14.6 PLC Programming Example Tool changer and basic flowcharts of the associated PLC program
8
Create the PLC program with the PLC development software PLCdesign.
The tool changer treated here has the following features: Up to 254 tools Variable pocket coding, MP7480.x = 4 Special tools allowed Providing the next tool with TOOL DEF Tool change with TOOL CALL Tools can be manually changed without pocket number definition in the tool table Double changing arm Special tools variable, MP4541 = 0
ISTREG
GRE1
GRE2
SPIREG
The following variables are used in the basic flowchart: ISTREG = The pocket number at the tool change position of the tool magazine GRE1 = Pocket number of tool in changing arm facing tool magazine GRE2 = Pocket number of the tool in the arm facing the spindle SPIREG = Pocket number of the tool in the spindle
W262 W264 M4073 M4074 M4093 M4094 M4520 M4524 M4540 M4541
September 2006
Tool pocket number Tool number Strobe signal T code (P code) with TOOL CALL Strobe signal T code (P code) with TOOL DEF Acknowledgment of T code (P code) with TOOL CALL Acknowledgment of T code (P code) with TOOL DEF Further T code (P code) follows with TOOL CALL Special tool called (TOOL CALL) Sequence of the tool numbers or pocket number transfer, M4520 = 1 Special tool to original pocket in spite of variable pocket coding
Tool Changer
Set
Reset
NC NC NC NC NC
NC NC NC NC NC
NC
NC
NC
NC
NC PLC
NC PLC
PLC
PLC
8 – 293
Machines parameter that are used: Machine parameters
Meaning
MP7260 = 90
Number of tools in the tool table
MP7261 = 12
Number of the pockets in the tool magazine
MP7480.0 = 4
Output of the pocket number and tool number for every TOOL CALL block
MP7480.1 = 4
Output of the pocket number and tool number for every TOOL DEF block
The flowchart for this tool changer is divided into the following modules or subprograms: Module
Meaning
TOOL DEF
Search for tool and load in GRE1
TOOL CALL
Automatic tool change
STANDBY
Search for tool and load in GRE1
STANDBY BACK
Return tool from GRE1 to the magazine
MANUAL TOOL IN
Manual tool follows a normal or special tool
MANUAL TOOL OUT
Normal or special tool follows a manual tool
MANUAL IN/OUT
Manual tool follows a manual tool
INSERT
Replace old tool with new tool
COMPUTE SHORTEST DIRECTION COMPARE P CODE WITH ISTREG COMPARE GRE1 WITH ISTREG
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HEIDENHAIN Technical Manual iTNC 530
TOOL DEF program module
Search for tool and load in GRE1
Feedback is immediate so that the NC PGM can continue
TOOL DEF feedback
yes
P = 1
Manual tool
yes
Message: CANNOT PREPARE MANUAL TOOL
No
P = SPIREG
Tool already in spindle
yes No
P = GRE1
Tool already in GRE1
yes No
GRE1 = 0
GRE1 empty
STANDBY Modul
yes GRE1 assigned Modul STANDBY BACK
September 2006
Tool Changer
End
8 – 295
TOOL CALL program module
Automatic tool change, main program
Clear spindle No
T=0
M4520 = 0
Yes
S-/N-Wzg
No
yes
Yes Yes
P = 1 No
Another TOOL CALL strobe follows
M4520 = 1
No No
M-tool Another TOOL CALL strobe follows
P = SPIREG
P = 1
M-tool IN Module
S-/N tool out M - tool in
Yes M-tool M-tool OUT Module
MAN. OUT/IN Module
Mtool out S-/N tool in M-tool out M-tool in
No
Tool already in spindle
Yes P = GRE1
No Tool already in changing arm
Yes GRE1 = 0
No
Module STANDBY
Yes Modul STANDBY BACK
8 – 296
Module CHANGE
S-/N-tool out S-/N-tool in
Fetch tool to GRE 1 Unload GRE1
TOOL CALL feedback
HEIDENHAIN Technical Manual iTNC 530
STANDBY program module
Search for tool and load in GRE1
GRE1 = ISTREG
Pocket in magazine found
No
yes COMPARE GRE ! WITH ISTREG Module
Bring GRE 1 to magazine and load GRE 1 with zero
Return tool to magazine
End
STANDBY BACK program module
Return tool from GRE1 to the tool magazine
P = ISTREG
Pocket in magazine found
No
yes COMPARE P-CODE WITH ISTREG Module
Load ISTREG to GRE1
LOAD tool from magazine to GRE 1
End
September 2006
Tool Changer
8 – 297
N → M or S → M: Manual tool follows a normal or special tool. The old tool is placed in the tool magazine and the user is prompted to insert a manual tool (which is not in the tool magazine).
MANUAL TOOL IN program module
GRE1 = 0
No
yes STANDBY BACK Module
Move GRE 2 to spindle and load SPIREG to GRE 2
Old tool out
Turn changing arm, As GRE 1 is already load SPIREG zero, this routine has with GRE 1, set software relevance only GRE 1 to zero and return arm
unload GRE1
Swap over GRE 1 and GRE 2 registers
STANDBY BACK Module
TOOL CALL feedback
No
M4573 = 1
Bring old tool to magazine
Move axes to man. change position
Prompt user to load tool and press OK key
yes Strobe set again
OK key pressed
No
yes Load T-Code to SPIREG
8 – 298
End
HEIDENHAIN Technical Manual iTNC 530
M → N or M → S: Normal or special tool follows a manual tool. The operator is prompted to empty the spindle manually, since there is no room in the tool magazine for the current tool. The called tool is inserted automatically.
MANUAL TOOL OUT program module
GRE1 = P
Move axes to manual change position
Tool in GRE1
No
Yes GRE1 = 0
Prompt user to unload tool and press OK key
No
GRE1 empty
Yes Unload GRE1 STANDBY BACK Module
No
OK key pressed Fetch tool to GRE 1
Yes Load zero in SPIREG (spindle empty)
Module STANDBY
CHANGE Module
TOOL CALL feedback End
M4573 = 1
No
Yes TOOL CALL strobe set again
September 2006
Tool Changer
8 – 299
MANUAL TOOL OUT/IN program module
M → M: Manual tool follows a manual tool. The user is prompted to remove the tool from the spindle manually and insert the new tool, since there is not room for the tools in the tool magazine.
Move axis to manual change position
Prompt user to unload old and load new tool
Press OK key
No
OK key pressed Yes Load T code to SPIREG
End
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HEIDENHAIN Technical Manual iTNC 530
INSERT program module
The spindle is emptied and the new tool is automatically inserted. The PLC takes into account whether the tool should be returned to its original pocket (e.g., special tool).
Move GRE2 to spindle, load SPIREG to GRE 2
Turn changing arm, load SPIREG with GRE 1, set GRE 1 to zero, retract arm
Old tool out
Turn changing arm and load new tool
Swap over GRE 1 and GRE2 registers Another TOOL CALL strobe follows
M4520 = 1
GRE 1 to magazine, load GRE 1 with zero
No
Yes TOOL CALL feedback
Wait No
Store old tool in magazine
End
M4573 = 1 Yes TOOL CALL strobe set again No P = ISTREG Magazine in position Yes COMPARE P-CODE WITH ISTREG Module
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Position tool magazine
Tool Changer
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COMPARE P CODE WITH ISTREG program module
The tool magazine is positioned in the shortest direction to the desired pocket number.
Transfer P code to data stack
COMPUTE THE SHORTEST PATH IN M3042 Module
P = ISTREG
No
End
Yes M3042 = 1
No
Yes
Index magazine forward
COMPARE GRE1 WITH ISTREG program module
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Index magazine reverse
The tool magazine is positioned in the shortest direction to the pocket number that is located in GRE1.
HEIDENHAIN Technical Manual iTNC 530
Transfer GRE 1 to data stack
COMPUTE THE SHORTEST PATH IN M3042 Module
GRE1 = ISTREG
No
End
Yes M3042 = 1
No
Yes
Index magazine forward
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Tool Changer
Index magazine reverse
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COMPUTE SHORTEST DIRECTION program module
The PLC ascertains the direction of tool-magazine movement for the shortest traverse distance to the desired pocket number. The direction is saved in M3042: M3042 = 0: Backward M3042 = 1: Forward
M3042 = 0: backward M3042 = 1: forward Fetch search pocket from data stack to NOMREG
Divide number of mag. pockets by two and save to MAGREG
Save absolute value from ISTREG-NOMREG difference to ABSREG
NOMREG> ISTREG Yes
No
ABSREG< _ MEGREG
No
NOMREG> ISTREG
No
Yes
Yes
ABSREG< _ MEGREG
No
Yes M3042 = 1
Magazine forward
M3042 = 0
Magazine reverse
End
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✎
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HEIDENHAIN Technical Manual iTNC 530
9 PLC Programming 9.1 PLC Functions ................................................................................... 9 – 3 9.1.1 Selecting the PLC Mode ............................................................ 9 – 4 9.1.2 PLC Main Menu ......................................................................... 9 – 4 9.1.3 File Management ....................................................................... 9 – 7 9.1.4 The WATCH LIST Function ........................................................ 9 – 8 9.1.5 The I/O-FORCE LIST ................................................................ 9 – 11 9.1.6 The TABLE Function ................................................................ 9 – 12 9.1.7 The TRACE Function ................................................................ 9 – 14 9.1.8 The Logic Diagram ................................................................... 9 – 16 9.1.9 The COMPILE Function ........................................................... 9 – 18 9.2 Conditional Compilation................................................................ 9 – 20 9.3 Hard-Disk Organization ................................................................. 9 – 21 9.4 System Files.................................................................................... 9 – 23 9.4.1 OEM.SYS ................................................................................. 9 – 23 9.4.2 NCMACRO.SYS ....................................................................... 9 – 30 9.4.3 MGROUPS.SYS ....................................................................... 9 – 32 9.4.4 MSPLIT.SYS ............................................................................ 9 – 32 9.4.5 PLCSOFTK.SYS ....................................................................... 9 – 32 9.4.6 CYCLE.SYS .............................................................................. 9 – 32 9.4.7 TNC.SYS .................................................................................. 9 – 32 9.5 Data Transfer NC > PLC, PLC > NC ............................................... 9 – 33 9.5.1 Data Transfer of NC Program > PLC (FN19: PLC =) ................ 9 – 33 9.5.2 Data Transfer PLC > NC Program (Q Parameters) .................. 9 – 34 9.5.3 Data Transfer NC Program > NC (FN17: SYSWRITE) .............. 9 – 35 9.5.4 Data Transfer NC > NC Program (FN18: SYSREAD) ............... 9 – 40 9.5.5 Data Transfer of Machine Parameters > PLC .......................... 9 – 50 9.5.6 Interrogate PLC Operands in the NC Program (FN20: WAIT FOR) . 9 – 53 9.6 Operands......................................................................................... 9 – 54 9.6.1 Overview of Operands ............................................................. 9 – 54 9.6.2 Operand Addressing (Byte, Word and Double Word) .............. 9 – 55 9.6.3 Timers ...................................................................................... 9 – 56 9.6.4 Counters .................................................................................. 9 – 59 9.6.5 Fast PLC Inputs ....................................................................... 9 – 61 9.7 Program Creation ........................................................................... 9 – 62 9.7.1 ASCII Editor ............................................................................. 9 – 62 9.7.2 Program Format ....................................................................... 9 – 62 9.7.3 Program Structure ................................................................... 9 – 63 9.7.4 Logical Names for Files ........................................................... 9 – 64 9.8 PLC Commands .............................................................................. 9 – 65 9.8.1 Overview ................................................................................. 9 – 65 9.9 INDEX Register (X Register)........................................................ 9 – 126 9.10 Commands for String Processing............................................. 9 – 128 9.10.11 Modules for String Processing .......................................... 9 – 135
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9.11 Submit Programs ....................................................................... 9 – 138 9.12 Cooperative Multitasking .......................................................... 9 – 142 9.12.2 Control of Events ................................................................. 9 – 143 9.13 Constants Field (KF) ................................................................... 9 – 148 9.14 Program Structures.................................................................... 9 – 149 9.14.1 IF ... ELSE ... ENDI Structure ............................................... 9 – 150 9.14.2 REPEAT ... UNTIL Structure ................................................ 9 – 150 9.14.3 WHILE ... ENDW Structure ................................................. 9 – 151 9.15 Linking Files ................................................................................ 9 – 153 9.16 PLC Modules ............................................................................... 9 – 156 9.16.1 Markers, Bytes, Words, and Double Words ........................ 9 – 156 9.16.2 Number Conversion ............................................................. 9 – 159
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9 PLC Programming 9.1 PLC Functions The integrated PLC of the iTNC contains its own text editor for creating the list of statements for the PLC program. You enter PLC commands and comments using the keyboard. It’s easier, however to create your PLC programs on a PC with the PLC compiler software PLCdesignNT. For more information on PLCdesignNT, contact HEIDENHAIN. The iTNC supports you with the COMPILE function, which checks the PLC program for logical errors, and the TRACE, TABLE and WATCH LIST functions, with which you can check the condition of the operands. Due to symbol information used in common by the main program and the softkey file, a specific sequence must be followed in order to avoid conflicts when compiling the PLC program. Soft-key project file Main program of the PLC Soft-key project file (2nd compilation procedure for checking the symbol information) The process memory works with a compiled PLC program up to a size of 512 KB. Every 10.8 ms—the PLC cycle time—the iTNC begins a new PLC scan, i.e. every 10.8 ms the inputs are reread and the outputs are reset. The PLC cycle time can be set with MP7600.1 and ascertained with Module 9196. Module 9196 Find the PLC cycle time The PLC cycle time is determined in µs. Call: CM PL
9196 D
MP7600.1
Input:
Only CC 422: PLC cycle time = MP7600.1 ⋅ Position controller cycle time = MP7600.0 ⋅ MP7600.1 ⋅ 0.6 ms 1 to 20 (recommended input value: 6)
Note An exact PLC cycle time is only available after the emergency stop test.
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9.1.1 Selecting the PLC Mode Select PLC Mode: 8
Select the Programming and Editing operating mode.
8
Press the MOD key.
8
Enter the code number 807667 and confirm your entry with the ENT key, or if you already entered the code number, press the PLC EDIT soft key.
Exit PLC mode: 8
Press the END hard key or soft key.
9.1.2 PLC Main Menu After you have entered the code number (or pressed the PLC EDIT soft key) the iTNC displays the PLC main menu:
Configuration: Active PLC configuration file. The machine-specific configurations are set in this file. Active: Files of the integrated PLC in the process memory. These include the PLC program, PLC error table, soft-key project file and possibly the Profibus configuration file or configuration file for the source-code programming. At start-up, the iTNC automatically compiles the files defined in OEM.SYS. The files only become active after they have been compiled. Edit: Name of the file located in RAM memory.
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HEIDENHAIN Technical Manual iTNC 530
Free: The available memory in the PLC partition (PLC:\) is shown in kilobytes. Additionally, the PLC partition is checked to see if there are at least 10 MB of memory available. If the available memory is less than 10 MB, the PLC partition: Not enough memory error message is output. Profibus cycle time: Currently needed cycle time for requests and write-processes of the Profibus system. Interpolator cycle time: Current interpolator cycle time. PLC cycle time: Current PLC cycle time, set via MP7600.0 and MP7600.1. PLC utilization Maximum: Maximum run time of the PLC program The PLC processing time (time for a PLC scan) is given as a percentage of the maximum time: 100% is the equivalent of a run time of 1 ms at a cycle time of 21 ms. Use the following formula to calculate the run time trun [ms] in dependence of the PLC cycle time tPLC [ms] and the processing time tcalc. [%]:
t run
t PLC ⋅ t calc. = -------------------21
If the maximum run time of the sequential program is exceeded, the iTNC displays the blinking error message PLC: time out. PLC utilization Currently: The time taken for the latest PLC scan in %. PLC code length: Length of the compiled sequential program in KB. Maximum value: 512 KB.
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PLC functions of the main menu
From the PLC main menu you can use soft keys to access the following PLC functions: Soft key
Function Edit the file located in RAM memory Call diagnostic functions (see page 8 – 94) Compile files registered in OEM. SYS (see page 9 – 18) Select and compile files to be compiled (see page 9 – 18) Stop and restart the PLC program (M4173 is supported) Display a list of machine parameters Display the statuses of selected operands in tabular format (see page 9 – 8) Setting inputs and outputs. The PLC program is ignored (see page 9 – 11) Display the logical states of the PLC operands (see page 9 – 12) Show the logic diagram (see page 9 – 16) Display the TRACE function (see page 9 – 14) Display the process monitor (Page 9–144) Activate the integrated oscilloscope (Page 6–309) End PLC programming
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9.1.3 File Management File management in PLC mode is largely the same as in the Programming and Editing mode of operation (see User’s Manual for iTNC 530). If you press the PGM MGT key while in the PLC mode, the iTNC displays the PLC partition as well, at the upper left next to the TNC partition. Differences from file management of NC part programs
File types displayed by the iTNC when you press the SELECT TYPE soft key: Soft key
Function Show all files Show only PLC programs (*.PLC) Show only ASCII files (*.A) Show only help files (*.HLP) Show only system files (*.SYS) Show only compensation value tables (*.COM) Show only tables with compensation value assignments (*.CMA) Show only PLC error tables (*.PET) Show only PLC source files (*.SRC) Show only soft-key project files (*.SPJ) Returns to previous menu.
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9.1.4 The WATCH LIST Function With the WATCH LIST function you can create a table with dynamic display of the states of the selected operands. Meaning of the columns in WACTH LIST: MODULE: for global symbolic operands or path with the name of the *.SRC file in which the operand is defined SYMBOL: Symbolic address of the operand ADDR: Absolute address of the operand VALUE: Content of the operand COMMENT: Comment for the operand Soft keys within the WATCH LIST function: Soft key
Function Jump to the beginning of the WATCH LIST Jump to the end of the WATCH LIST Scroll back one page in the WATCH LIST Scroll forward one page in the WATCH LIST Jump to the beginning of the current line Jump to the end of the current line Show contents of operands as decimals or hexadecimals Insert a new line above the current line Delete active line
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Soft key
Function Displays a selection list of all symbolic operands used in the active PLC program. Jump to the beginning of the selection list Jump to the end of the selection list Scroll back one page in the selection list Scroll forward one page in the selection list Search the selection list for a specific text Load selected operands into the WATCH LIST Close the pop-up window If the cursor is in the SYMBOL or ADDR column, then this soft key becomes visible, and the column can be sorted alphabetically ascending or descending. Load selected operands into the logic diagram (see page 9 – 16) Search text in the WATCH LIST (first the SYMBOL column and then the ADDR column is searched) Add selected input or output into the I/O Force List (see “The I/O-FORCE LIST” on page 9 – 11) Select columns to display in the WATCH LIST and their order Assume column settings of the WATCH LIST Close selection window without applying new settings Returns to previous menu.
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PLC Functions
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Display of symbolic operands in the WATCH LIST
8
Press the WATCH LIST soft key to open the WATCH LIST menu.
8
Press the SYMBOL LIST soft key to open a selection window with all local and global operands used in the PLC program.
8
Select the desired operand with the arrow keys and load it with the SELECT soft key or with the ENT key.
8
Press the END soft key to close the selection window. Note Operands can only be selected with the SYMBOL LIST soft key if you are working with the *.SRC source files of the PLC program on the control. Otherwise the error message Selection list is empty appears.
Display of operands in the WATCH LIST
Adding operands to the I/O-FORCE LIST
8
Press the WATCH LIST soft key to open the WATCH LIST menu.
8
Press the INSERT LINE soft key.
8
In the ADDR column, enter the absolute address of the operand, i.e. W1022.
8
Press the ENT key.
8
Press the WATCH LIST soft key to open the WATCH LIST menu.
8
Press the ADD TO I/O-FORCE LIST soft key.
The operand is written to the I/O-FORCE LIST, and a message confirming the transfer of the operand to the I/O-FORCE LIST appears. Internal process of the WATCH LIST function
DEBUGPATH = PLC:\DEBUG is automatically entered in OEM.SYS. This is the working directory for the WATCH LIST function. If you are working with the source files on the control, a *.WLC file is generated from the *.MAP file when compiling the PLC program. This *.WLC files has the same name as the PLC main program, and contains all local and global symbolic operands. The *.WLC file is saved in the working directory mentioned above for the WATCH LIST function. The selection window is used to select the symbolic operands from the *.WLC file for the WATCH LIST. The first time operands are selected and a WATCH LIST is created, the file TEMP.WLT is created and saved in the working directory. The entry in OEM.SYS is expanded to DEBUGPATH = PLC:\DEBUG\TEMP.WLT. This ensures that when the WATCH LIST function is next called, the most recent WATCH LIST will be active. If there is more than one *.WLT file in the working directory, the desired file can be chosen with PGM MGT. Selecting a new *.WLT file also changes the DEBUGPATH = entry in OEM.SYS.
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9.1.5 The I/O-FORCE LIST With the I/O-FORCE LIST you create a table in which the status of selected inputs and outputs is written based on the process image. Danger The I/O-FORCE LIST can overrule safety-relevant monitoring operations as well as any inputs and outputs in the PLC program! Activation of the I/ O-FORCE LIST can therefore only be done with extreme care. Also make sure that hanging axes are supported. Meaning of the columns in I/O-FORCE LIST: SYMBOL: Symbolic address of the operand ADDR: Absolute address of the operand VALUE: Content of the operand COMMENT: Comment for the operand Adding operands to the I/O FORCE LIST
8
Press the WATCH LIST or TABLE soft key in the PLC Programming operating mode.
8
With WATCH LIST: In the WATCH LIST, select the line with the desired operand (input or output). You can also select the operand first through the SYMBOL LIST.
8
With TABLE: In the TABLE, select the desired operand via soft key and the keyboard arrow keys.
8
Press the ADD TO I/O-FORCE LIST soft key.
The operand is written to the I/O-FORCE LIST, and a message confirming the transfer of the operand to the I/O-FORCE LIST appears. Note When using the I/O-FORCE LIST, remember that: If an operand is entered and the I/O-FORCE LIST is activated via soft key, then this operand is marked in color in the TABLE, and the SET and RESET soft keys have no meaning. The green error message I/O-Force is active is output in the PLC Programming mode of operation if the I/O-FORCE LIST is active.
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PLC Functions
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Soft keys within the I/O-Force List: Soft key
Function Jump to the beginning of the I/O-Force List Jump to the end of the I/O-Force List Scroll one page backward in the I/O-Force List. Scroll one page forward in the I/O-Force List. Insert a new line above the current line Delete active line Switch the I/O-Force List on or off. As soon as this soft key is set to ON, the values entered in VALUE are written to the corresponding inputs and outputs. The states of each input are not evaluated. In addition, the outputs set by the PLC program are not sent to the hardware. If the cursor is in the SYMBOL or ADDR column, then this soft key becomes visible, and the column can be sorted alphabetically ascending or descending. Returns to previous menu.
9.1.6 The TABLE Function From the main menu, choose the TABLE soft key to select the table of the PLC memory in order to show its states dynamically on the screen. To select a certain operand, use the cursor keys or the GOTO key. Press the END key to return to the main menu. Within the TABLE function, you can navigate with the appropriate soft keys, or with the m, i, o, c, t, b, w, d and s keyboard keys for each operand type. The b, c, and d keys are an exception in the B, W, D and HEX views, since they are needed for the entry of hexadecimal values.
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HEIDENHAIN Technical Manual iTNC 530
Soft key
Function Set the selected operand Reset the selected operand Show a list of the markers Show a list of the inputs Show a list of the outputs Show a list of the counters Show a list of the timers Show a list of the bytes Show a list of the words Show a list of the double words List of strings (only the first 70 characters). Overwriting is not possible. Show contents of operands as decimals or hexadecimals Save states of selectable operand areas in an ASCII file. Areas of more than one operand can be saved, e.g. M0 to M100, W100 to W118. Display saved ASCII file with states of operands Load selected operands into the WATCH LIST (see page 9 – 8) Returns to previous menu.
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9.1.7 The TRACE Function With the TRACE function you can: Control the logical states of markers, inputs, outputs, timers, and counters. Check the content of bytes, words and double words. From the PLC main menu, press the TRACE IN-CODE soft key to select the TRACE function. The iTNC displays: The statement list (STL) of the selected PLC program. For every program line, the content of the operand and the accumulator in HEX or decimal code (selectable by soft key). The iTNC identifies every cyclically executed command with a C. With the arrow keys or the GOTO function you can select the program section that the iTNC should display on the screen. The PLC program to be selected is chosen with PGM MGT, and must be the currently active main program or a file integrated with USES.
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Soft keys within the TRACE function: Soft key
Function Show the logic diagram (see page 9 – 16) Show operand or accumulator contents in hexadecimal or decimal notation Stop dynamic display of the operand content, the accumulator content, and the logic diagram with STOP; continuously update again with START.
Start/End the trace
Load selected operands into the WATCH LIST (see page 9 – 8) Jump to the beginning of the STL Jump to the end of the STL Scroll back one page in the STL Scroll forward one page in the STL Find text in the STL Returns to previous menu.
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9.1.8 The Logic Diagram Soft keys within the LOGIC DIAGRAM function: Soft key Submenu
Function
Select Markers/Inputs/Outputs/Timers/Counters for a logic diagram, trigger logic and recording time. Return to the recording interface Selecting the trigger logic: Here you specify if recording begins when a change in the signal state (0 or 1) first occurs (OR), or only after all trigger conditions have occurred once (AND). Selecting the recording time. Here you specify how long the signal states are recorded from the defined trigger time point. 4 different times are available, depending on the PLC cycle time (a total of 2048 PLC cycles are recorded). Display the TRACE function (see page 9 – 14) Save current logic diagram in an ASCII file (*.A) Show the saved logic diagram Stop dynamic display of the operand content, the accumulator content, and the logic diagram with STOP; continuously update again with START.
Start/End the trace
Returns to previous menu.
With the LOGIC DIAGRAM function you can graphically display the logical states of up to 16 operands (M/I/O/T/C) at once. 2048 PLC cycles are recorded. The operands to be shown must be saved in a table that you create with the SELECT M/I/O/T/C soft key. The iTNC asks per dialog for the individual positions in the table. To delete the lines, simply press DEL. For each operand you can enter one trigger condition. The iTNC records from the trigger time for as long as it was instructed to. A total of 2048 PLC cycles is always recorded, and depending on the setting, 128, 256, 512 or 1024 PLC cycles from the trigger time. The appropriate cycles before the trigger time are also shown.
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The following are possible trigger conditions: 1: Record if operand is logically 1 (trigger on positive edge). 0: Record if operand is logically 0 (trigger on negative edge). No trigger condition: Only record in combination with other triggers. If you do not need a trigger condition, you can enter this in the Trigger column with the CE key. The iTNC records the states of this operand in parallel with the triggered operands. To start recording: 8
Press the START LOGIC TRACE soft key.
To stop recording: 8
Press the STOP LOGIC TRACE soft key, or the iTNC terminates recording automatically as soon as the trigger event occurs.
The ”PCTR” indicator blinks in the status window as long as the iTNC is recording logical states. As soon as recording ends, you can use the arrow keys to select the desired area in the TRACE buffer. Example of logic diagram:
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9.1.9 The COMPILE Function Compiling a completed PLC program transfers it to the process memory where it can then become active. The name of the compiled program then appears in the main menu next to PGM IN EXEC.MEM. The compiled PLC program is saved in the control, i.e. after confirmation of power interruption, the PLC program need not be compiled. It is compiled only if one of the source files has changed. A binary PLC program can be created with PLCdesignNT for test purposes and transferred to the control. This does not change the entry in OEM.SYS. Soft keys within the COMPILE function: Soft key
Function Compile the current PLC program, current PLC error table, and current soft-key project file (entries PLCMAIN=, PLCERRTAB=, and SOFTKEYPROJECT= in OEM.SYS) Only compile the current PLC program (entry PLCMAIN= in OEM.SYS) Only compile the current PLC error table (entry PLCERRTAB= in OEM.SYS) (see page 8 – 24) Only compile the current soft-key project file (entry SOFTKEYPROJECT= in OEM.SYS) (see page 8 – 122) Return to PLC main menu
Soft keys within the SELECT + COMPILE function: Soft key
Function Select and compile the configuration file for the compilation of the source code (see page 9 – 20) Select and compile a PLC program Select and compile a PLC error table (see page 8 – 24) Select and compile a soft-key project file (see page 8 – 122) Select and compile a magazine rule file (see page 8 – 247) Return to PLC main menu
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Example for compiling a PLC program: 8
Press the SELECT + COMPILE soft key: the iTNC displays the soft keys for the SELECT + COMPILE function.
8
Press the SELECT PLC-MAIN PROGRAM soft key: the iTNC opens the program manager.
8
Use the arrow keys to select the PLC program to be compiled.
8
Press ENT.
The name and path of the compiled PLC program are entered in OEM.SYS with the PLCMAIN= entry. Press the COMPILE PLC-MAIN PROGRAM soft key if you only want to compile the PLC program from this entry.
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9.2 Conditional Compilation Depending on the machine parameters, a PLC program can be conditionally compiled on the iTNC. This allows you to select and deselect machine options by entering the options in machine parameters. Therefore, only one PLC program is necessary for all variants of machine options. 8
Enter the commands for the conditional compilation in the PLC program.
8
Create the Config. file.
8
In OEM.SYS, enter PLCCOMPCFG = followed by the path for the Config. file.
8
Enter the machine options in the machine parameters MP4000.x.
8
Reset the iTNC or recompile the PLC program.
Example: OEM.SYS: ... PLCCOMPCFG = PLC:\OEM\OEM.CFG ... OEM.CFG: DEFINE TOOLCHANGER = 1 DEFINE STAR_DELTA = %MP4000.1% DEFINE %MP4000.2% DEFINE %MP4000.3%
MP4000.1 : YES MP4000.2 : CHIP_CONVEYOR MP4000.3 : SWIVEL_HEAD = 3
#if SWIVEL_HEAD = 3 ... #endif #ifdef CHIP_CONVEYOR ... #endif #if STAR_DELTA = YES ... #endif #if TOOLCHANGER = 1 ... #endif MP4000.0-31 Options for the conditional compilation of the PLC program
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9.3 Hard-Disk Organization The hard disk of the iTNC is divided into three partitions: TNC partition
User-specific data such as NC programs, tool tables, datum tables, and pallet tables.
PLC partition
Your OEM-specific data such as system files, PLC programs, machine parameters, help files, PLC dialogs, PLC error tables, compensation value tables and OEM cycles. The PLC partition is visible only after you have entered the code number 807667. As a machine tool builder, you are concerned primarily with the PLC partition.
SYS partition
System-specific files such as system files, NC dialogs, HEIDENHAIN cycles, etc. The SYS partition is not visible and cannot be selected. Warning Alterations to the system partition can impair proper function of the iTNC!
Size of the partitions
The following partition sizes were valid until approximately August 2002: Partition
Contents
Size
SYS
System files
2 GB
PLC
OEM files
2 GB
TNC
User files
Remaining memory on hard disk (at least 2 GB)
The following sizes are valid for the partitions on hard disks for the iTNC 530 that were delivered from August 2002 up to NC software 340 422-08. Partition
Contents
Size
SYS
System files
1 GB
PLC
OEM files
1 GB
TNC
User files
4 GB
The following sizes are valid for the partitions on hard disks for the iTNC 530 that were delivered with NC software 340 422-09 to 340 422-12. Partition
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Contents
Size
SYS
System files
1 GB
PLC
OEM files
1 GB
TNC
User files
25 GB
Hard-Disk Organization
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The following sizes are valid for the partitions on hard disks for the iTNC 530 that were delivered with NC software 340 490-01 or higher. Partition
Contents
Size
SYS
System files
2 GB (for multiple software version in packed format)
PLC
OEM files
1 GB
TNC
User files
25 GB
For partition sizes of the iTNC 530 with Windows 2000 (delivered starting from NC software 340 480-09), see “Hard disk” on page 11 – 5. Directory structure
HEIDENHAIN recommends creating the following directory structure in the PLC partition:
System files *.SYS PLC programs *.PLC (main program and modules) Compensation value tables *.CMA and *.COM OEM cycles Machine parameter description, CycleDesign files Standard PLC error table *.PET Kinematics tables PLC dialogs and error messages *.A; Help files *.HLP OEM logo M-function macros Machine parameter files, motor tables NC macros Network settings Prototypes for tables Pictures for PLC soft keys
Note In the PLC and SYS partition, a maximum of 512 entries each can be stored in the root directory, otherwise an error message appears.
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9.4 System Files 9.4.1 OEM.SYS In the OEM.SYS file you must enter code words to call certain functions. After the code word, and separated by an equal sign = you enter the directory in which the files for these functions are to be found, as well as the file names themselves. You must make your entries in the OEM.SYS file either manually or with Module 9271 (MPFILE and PLCMAIN can only be entered manually). Module 9271 overwrites the content of existing code words and inserts non-existent code words at the end of the OEM.SYS file. With Module 9270 you can read all entries in the OEM.SYS file. OEM.SYS is reevaluated during activation of the machine parameter programming operating mode and before downloading a machine parameter file. In connection with TNCremoNT 2.2, during the restoring of a backup, first OEM.SYS is transferred and also evaluated before transferring the machine parameter file. The following code words are defined (in alphabetical sequence): AXISNUMBER =
Number of the indexes of the machine parameters (except MP2xxx.y) in the machine-parameter file. Input example: AXISNUMBER = 6
DEBUGPATH =
Path for the most recently active *.WLT file for the WATCH LIST function. Other *.WLT files can also be saved in this folder. The folder is also used as the working directory for the WATCH LIST function. When you select a new *.WLT file, the iTNC automatically enters that name in OEM.SYS. Input example: DEBUGPATH = PLC:\DEBUG\TEMP.WLT
FNERRFIX =
FN14: ERROR = gives additional information about fixing an error. The text and information about the cause of the error (FNERRREASON =) are shown after pressing the HELP key. The setup of the file must correspond to that of the file for PLC error messages (PLCERRFIX =). Input example: FNERRFIX = FN14-FIX.A
FNERROR =
ASCII file (*.A) that contains the error messages for FN14: ERROR = (0 to 299) in lines 1 to 300. The file must be located under PLC:\LANGUAGE\, where depends on MP7230.3. Input example: FNERROR = FN14-ERR.A
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9 – 23
FNERRREASON =
FN14: ERROR = gives additional information about the cause of an error. The text and information about fixing the error (FNERRFIX =) are shown after pressing the HELP key. The setup of the file must correspond to that of the file for PLC error messages (PLCERRREASON =). Input example: FNERRREASON = FN14-REASON.A
KINEMATIC =
Path for the assignment table of the tilting-axis geometry description. Input example: KINEMATIC = PLC:\KINELIST.TAB
LOGO =
Path for customer-specific company logo during control power-up. Input example: LOGO = PLC:\LOGO\OEM-LOGO.BMP
LOGOSP =
Path for a customer-specific company logo shown when the control is started, instead of the note regarding an installed service pack. Input example: LOGOSP = PLC:\LOGO\SP-LOGO.BMP
LSV2TIME0 =
Timeout for block reception (STX to ETX).
LSV2TIME1 =
Timeout for acknowledging ENQ or check sum.
LSV2TIME2 =
Timeout during transmission of DLE 0, DLE 1 or NAK until reception of a valid character.
MODEHELP =
Path for help texts and machine commands. Input example: MODEHELP = PLC:\LANGUAGE\GERMAN\OPTIMIER.HLP
MPFILE =
(Mandatory entry): Path for the active MP file. If you have loaded an MP file editor and you exit the editor, the iTNC automatically enters this MP file in the OEM.SYS file. Input example: MPFILE = PLC:\MP\NC530V02.MP
MPFRAGMENT =
Up to 10 ( from 0 to 9) machine parameter subfiles can be defined. They can be activated with FN17: SYSWRITE ID1020 NR1 = . Changes to the spindle machine parameters (MP3xxx or MP13xxx) are only active after an S output. All other machine parameters are active immediately. The changes also remain in effect if a new NC program is selected, but not if the control is restarted. Input example: MPFRAGMENT0 = PLC:\MP\FINISH.MP Note Please note that MPFRAGMENTx and MPFRAGMENTFILE... of course cannot be used as keywords at the same time.
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HEIDENHAIN Technical Manual iTNC 530
MPFRAGMENTFILE =
By entering MPFRAGMENTFILE = , you specify a file containing the paths to machine-parameter subfiles, which can be activated via FN17. The value entered in the FN17 SYSWRITE ID 1020 NR1 = function then corresponds to the MP subfile reference in this file. This makes it possible to enter any number of MP subfiles (until now only 10 files MPFRAGMENT0-9 = ). Changes to spindle machine parameters (MP3xxx or MP13xxx) are only active after an S output. All other machine parameters are active immediately. The changes also remain in effect if a new NC program is selected, but not if the control is restarted. Input example: MPFRAGMENTFILE = PLC:\MP\MPFILELIST.MP Note Please note that MPFRAGMENTx and MPFRAGMENTFILE... of course cannot be used as keywords at the same time.
MPLOCKFILE =
Path of a machine parameter subfile. If there are differences between this file and the current machine parameter file, an error message appears and the value from this subfile is offered for acceptance. Input example: MPLOCKFILE = PLC:\MP\340420.MPL
MPPASSWORD =
Code number for calling the machine parameter file (instead of 95148). Input example: MPPASSWORD = MP Note Do not enter a code number that has already been defined by HEIDENHAIN!
NUMBERMP4111 =
Number of required timers > 96. The corresponding number of machine parameters MP4111.96 to MP4111.x is created. Input example: NUMBERMP4111 = 10 (machine parameters MP4111.96 to MP4111.105 are created)
NUMBERMP4230 =
Setting a number in the PLC for Module 9032. The corresponding number of MP4230.x machine parameters are created. The maximum input value is 99; no entry or an invalid entry defines 32 indexes. Input example: NUMBERMP4230 = 40 (machine parameters MP4230.0 to MP4230.40 are created)
September 2006
System Files
9 – 25
OEMCYC. ZIPNAME =
The possibility of machining with or without preset tables can also be used in OEM cycles. A separate directory is created on the PLC partition for each cycle project (PLC:\OEMCYC_ZIP\, PLC:\OEMCY2_ZIP\, etc.). In OEM.SYS, enter after the keyword the name of the *.ZIP file to be unpacked, e.g. OEMCYC.ZIPNAME = ABC.ZIP, OEMCY2.ZIPNAME = DEF.ZIP, etc. The ZIP files contain all information for the cycles, including the directory structure. When the control is started up, the appropriate ZIP files are unpacked in the folders. The documentation for CycleDesign contains more detailed information.
PLCCOMPCFG =
Configuration file for conditional compiling Input example: PLCCOMPCFG = PLC:\OEM\OEM.CFG
PLCDIALOG =
Name for text file with PLC dialogs; the path for the text file is permanently defined. Input example: PLCDIALOG = DIALOG.A
PLCERRFIX =
Path for “Corrective action” help text. Input example: PLCERRFIX = FIX.A
PLCERROR =
Name for text file with PLC error messages; the path for the text file is permanently defined. Input example: PLCERROR = PLC_ERR.A
PLCERRREASON =
Path for “Cause of error” help text. Input example: PLCERRREASON = REASON.A
PLCERRTAB =
(Mandatory entry for PLC error messages): Path for PLC error message table. If you compile a PLC program, the iTNC automatically enters it in the OEM.SYS file. Input example: PLCERRTAB = PLC:\ PLC_PGM \ERR_TAB.PET
PLCEVENTS =
Path for event list (SPAWN command). Input example: PLCEVENTS = PLC:\EVENTS.PEV
PLCMAIN =
(Mandatory entry): Path for the active PLC program. If you compile a PLC program, the iTNC automatically enters it in the OEM.SYS file. Input example: PLCMAIN = PLC:\PLC_PGM\MAIN_530.PLC
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HEIDENHAIN Technical Manual iTNC 530
PLCPASSWORD =
Code number for calling the PLC mode (instead of 807667). Input example: PLCPASSWORD = 123456789 Note Do not enter a code number that has already been defined by HEIDENHAIN!
PLCPWM =
Path for PLC program for commissioning of digital axes. Input example: PLCPWM = PLC:\IB_PGM\IB530.PLC
PLCSOFTVERS =
(Mandatory entry): iTNC displays PLC software version when the MOD key is pressed. Input example: PLCSOFTVERS = BASIS--33-03
PR.LINESLOCKED =
Lines in the preset table that are to be write-protected. See Page 8–38. Input example: PR.LINESLOCKED = 1,4-8,22
PRESETTABLE =
You can deactivate datum management via the preset table. See Page 8–38. Input example: PRESETTABLE = OFF
PWM PARAMETER =
Number of the indexes of machine parameters MP2xxx.y (for the current and speed controller) in the machine-parameter file (up to 30). Input example: PWMPARAMETER = 6
REMOTE. LOCKSOFTKEY VISIBLE =
Display External access ON/OFF soft key.
REMOTE. PLCPASSWORD FORCED =
Setup, machine backup and full backup only with the password from PLCPASSWORD =
REMOTE. PLCPASSWORD NEEDED =
Access to the PLC partition using the LSV2 protocol only with the password from PLCPASSWORD =
September 2006
Input example: REMOTE.LOCKSOFTKEYVISIBLE = YES
Input example: REMOTE.PLCPASSWORDFORCED = YES
Input example: REMOTE.PLCPASSWORDNEEDED = YES
System Files
9 – 27
SERVICE. REQUEST. CONTENT =
Only for remote diagnosis with the TeleService PC software: Path of a text file containing the content of the UDP service request package, with which the machine can be identified uniquely. The iTNC reports this content to the TSAgent when the SERVICE soft key is pressed. With short texts it can also be entered directly in quotation marks. If this entry is missing, then the default value PLC:\REQUEST.SYS is used automatically. Input example: SERVICE.REQUEST.CONTENT = PLC:\REQUEST.SYS
SERVICE. REQUEST.HOST =
Only for remote diagnosis with the TeleService PC software: ID address of the PC that accepts the service requests Input example: SERVICE.REQUEST.HOST = 160.1.180.99
SERVICE. REQUEST.PERIOD =
Only for remote diagnosis with the TeleService PC software: Repeat time in seconds for the UDP packets. If this entry is missing, then the default value 10 is used automatically. Input example: SERVICE.REQUEST.PERIOD = 10
SERVICE. REQUEST.PORT =
Only for remote diagnosis with the TeleService PC software: Port for the UDP packets. If this entry is missing, then the default value 19001 is used automatically. Input example: SERVICE.REQUEST.PORT = 19001
SERVICE. REQUEST. TIMEOUT =
Only for remote diagnosis with the TeleService PC software: Timeout checking interval in minutes—if there has been no data transfer over the Ethernet since the last timeout check, transmission of the service requests is terminated. If this entry is missing, then the default value 15 is used automatically. Input example: SERVICE.REQUEST.TIMEOUT = 15
SOFTKEY PROJECT =
Path for PLC soft-key project file *.SPJ with the structure of the vertical PLC soft key. Input example: SOFTKEYPROJECT = PLC:\SOFTKEY.SPJ
TABCMA =
Path for compensation value tables for axis error compensation. (See “Nonlinear axis error compensation” on page 6 – 41) Input example: TABCMA = PLC:\AXIS_COR\CORRECT.CMA
TCHRULES =
Path for the *.TCR definition file containing magazine rules for tool magazines. Input example: TCHRULES = PLC:\RULES.TCR
TNCOPT.LOCKSOFTKEYVISIBLE =
After pressing the MOD key, the TNCOPT ON/OFF soft key is displayed in order to enable commissioning on the control via TNCopt. See Page 6–337. Input example: TNCOPT.LOCKSOFTKEYVISIBLE = YES
TTYP =
9 – 28
Path and file name for list of the tool types.
HEIDENHAIN Technical Manual iTNC 530
Module 9270:Reading a code word With Module 9270 you can read an entry from the OEM.SYS file. Call: PS PS CM
B/W/D/K/S B/W/D/K 9270
Error recognition: Marker
Value
Meaning
M4203
0
Interface was released
1
Error. See W1022.
W1022
3
Not a valid string for code word or result
12
String for code word is too long
20
Module was not called in a spawn job or submit job
30
Code word was not found
Module 9271:Writing a code word With Module 9271 you can write an entry into the OEM.SYS file. Call: PS PS CM
B/W/D/K/S B/W/D/K 9271
Error recognition: Marker
Value
Meaning
M4203
0
Interface was released
1
Error. See W1022.
W1022
September 2006
3
Entry was written
6
PLCMAIN or MPFILE was transferred
12
String for code word is too long
30
Module was not called in a spawn job or submit job
System Files
9 – 29
9.4.2 NCMACRO.SYS The NC macros are defined in this file. Certain NC macros are predefined. You can also define new NC macros (see “Module 9291 Calling an NC macro” on page 9 – 31). The following NC macros are predefined: TC = PALETT = CLAMP = RUNCANCEL = RESETINIT = If the macro is not performed completely, • you cannot switch to the program run operating modes, • the error message Machine not initialized appears, and • the soft key INIT appears. The soft key can be used to restart the macro. STARTUPCANCEL = Example entry: TC=PLC:\NC_MACRO\TOOLCALL.H In order to increase the speed with which NC macros are executed, limitswitch monitoring can be turned off with FN17: SYSWRITE ID230 NR5. At the end of an NC macro the limit switch monitoring is always switched on. Also see Page 9–34 for transferring Q parameters between NC programs and NC macros. PGM CALL, including NC macros, and CYCL CALL (for cycles greater than 68) are calculated automatically with the look-ahead function and run without exact stop. At the beginning and end of the called program or cycle, it can happen that a missing synchronization between machine status and look-ahead calculation may lead to problems. Example: A TOOL CALL is run in look-ahead calculation. In this TOOL CALL a PLC function is needed (e.g. opening the tool changer gate). The tool is automatically changed on the machine. During this time the look-ahead calculation reaches another TOOL CALL. Since the PLC function has been fulfilled (the tool changer gate is open), the look-ahead calculation is continued. After the first tool change has been completed, the PLC function is no longer fulfilled (the tool changer gate is closed). The second TOOL CALL would be executed if the PLC function were not fulfilled (the tool changer gate is closed). The function FN20: WAIT FOR SYNC provides a remedy for this problem. If this function is programmed at the beginning of an NC program (NC macro) or cycle, in the look-ahead calculation the PGM CALL (NC macro call) or CYCLE CALL is not executed until the calling program has actually reached the PGM CALL (NC macro call) or CYCL CALL. Look-ahead is halted for FN20: WAIT FOR SYNC, no matter at what point this block is programmed.
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HEIDENHAIN Technical Manual iTNC 530
Module 9291 Calling an NC macro With Module 9291, you can call an NC macro in any operating mode. They are executed like cycles, without block display. The control-in-operation symbol is displayed while the macro is being executed. No macros can be activated if there is currently an External emergency stop error message. The predefined code words of the NCMACRO.SYS file and the code words defined by the user can be transferred. They only need to be entered in NCMACRO.SYS to be defined. To prevent name conflicts with future HEIDENHAIN code words, your code words should begin with the character ”P$” or with the name of the company. Call: PS CM
B/W/D/K/S 9291
Error recognition: Marker
Value
Meaning
M4203
0
NC macro was executed
1
Error code in W1022
2
NCMACRO.SYS does not exist, code word does not exist, or invalid string
7
Macro cannot be executed.
W1022
September 2006
8
External emergency stop is active
20
Module was not called in a spawn job or submit job
28
NC program or other macro is already running
29
The file given under the code word is not an NC program (*.H or *.I)
36
The file given under the code word does not exist
System Files
9 – 31
9.4.3 MGROUPS.SYS In the system files PLC:\MGROUPS.SYS and PLC:\MSPLIT.SYS, you define the M functions to be output after a block scan (see “Returning to the Contour” on page 8 – 50). 9.4.4 MSPLIT.SYS M functions that are effective in several groups are divided in the MSPLIT.SYS file into function components (see “Returning to the Contour” on page 8 – 50). 9.4.5 PLCSOFTK.SYS Path for the file names of the PLC soft-key pictures. (See “PLC Soft Keys” on page 8 – 122) 9.4.6 CYCLE.SYS Definition of the soft-key structure, if you have integrated OEM cycles. This file is created automatically by the PC software CycleDesign (see OEMCYC directory). 9.4.7 TNC.SYS The end user can define certain paths and functions in this file: TMAT = WMAT = PCDT = REMOTE.TNCPASSWORD = REMOTE.TNCPRIVATEPATH =
9 – 32
HEIDENHAIN Technical Manual iTNC 530
9.5 Data Transfer NC > PLC, PLC > NC Information is exchanged between PLC and NC by markers, bytes, words and double words. The function of the individual markers, bytes, words and double words is fixed. The transfer of certain data to the PLC is controlled by strobes: M codes S codes T codes G codes Q codes Example: If an M function is output, the NC sets the strobe signal M4072. After evaluating the M function, the PLC sets the acknowledgement marker M4092. The PLC must then reset M4092, otherwise no further strobes can be sent by the NC. Note PLC messages that would terminate an NC strobe are only released once all PLC functions that are only permitted during the strobe have been completed. 9.5.1 Data Transfer of NC Program > PLC (FN19: PLC =) With the Q-parameter function FN19: PLC = you can transfer two values from an NC program to the PLC. The iTNC stores the transferred values as integer values of the form 1/10 000 in the double words D280 and D284. M4570 defines the unit of measure of both numerical values. During transfer, the marker M4075 is set by the NC. The PLC must acknowledge the transfer by setting marker M4095.
M4075 M4095 M4570
D280 D284
September 2006
Transfer active with FN19 Acknowledgment of transfer with FN19 Unit of measure for transfer with FN19 0: mm 1: inches First numerical value from FN19 Second numerical value from FN19
Data Transfer NC > PLC, PLC > NC
Set
Reset
NC PLC
NC PLC
NC
NC
NC NC
NC NC
9 – 33
9.5.2 Data Transfer PLC > NC Program (Q Parameters) Data transfer from the PLC to the NC program goes through Q parameters Q100 to Q107, i.e., from the PLC you can overwrite Q parameters Q100 to Q107: 8
In double word D528, enter the numerical value to be transferred.
8
In word W516, define the target parameter (0=Q100, 7=Q107).
8
Activate transfer with strobe marker M4131.
8
The iTNC transfers the values with the next strobe. Set
M4131
D528 W516
Activation of Q-parameter transfer to PLC the NC; data from D258, Q number from W516 Double word with multiple function, PLC here data for transfer from PLC to NC Q no. 0-7 for numerical data transfer PLC PLC Æ NC
Reset NC
PLC PLC
Q parameters in OEM cycles are only effective locally if the NC program of the OEM cycle is saved in the *.CYC format, otherwise (*.H) the Q parameters are effective globally. Cycle 12 (PGM CALL) acts like CALL PGM, meaning the Q parameters are effective globally. Q parameters
Effectiveness
Q0 to (Q99 – MP7251)
Locally
(Q99 – MP7251) to Q99
Globally
Q100 to Q199
Special TNC functions
Q200 to Q1399
Globally, reserved for HEIDENHAIN cycles
Q1400 to Q1499
Reserved for OEM cycles (CALL-active)
Q1500 to Q1599
Reserved for OEM cycles (DEF-active)
Q1600 to Q1999
Freely available to the operator
MP7251
Input:
9 – 34
Number of global Q parameters starting from Q99 (up to Q60) that are transferred from the OEM cycle to the calling program. 0 to 40
HEIDENHAIN Technical Manual iTNC 530
9.5.3 Data Transfer NC Program > NC (FN17: SYSWRITE) You can use the FN17: SYSWRITE function particularly for OEM cycles if you wish to overwrite certain NC data, e.g., an active basic rotation, from the NC program. A group number, a system data number, and an index specify the particular item of system data that you write: FN17: SYSWRITE IDxxxx NRxxxx IDXxxxx = Qxxx or numerical value; comment. In the NC program you must enter the code number 555 343 before you can define function FN17 (soft keys: Q-parameter programming, special functions). After a control reset, the code number must be entered again if you wish to program FN17. The iTNC provides the following functions: Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
13
–
0 = Spindle 1 1 = Spindle 2
Spindle switchover 20 Data from the tool table 50
September 2006
1
Tool no.
Tool length L
2
Tool no.
Tool radius R
3
Tool no.
Tool radius R2
4
Tool no.
Oversize in tool length DL
5
Tool no.
Oversize in tool radius DR
6
Tool no.
Oversize in tool radius DR2
7
Tool no.
Tool locked TL 0 = not locked, 1 = locked
8
Tool no.
Number of the replacement tool RT
9
Tool no.
Maximum tool age TIME1
10
Tool no.
Maximum tool age TIME2
11
Tool no.
Current tool age CUR. TIME
12
Tool no.
PLC status
13
Tool no.
Maximum tooth length LCUTS
14
Tool no.
Maximum plunge angle ANGLE
15
Tool no.
TT: Number of tool teeth CUT
16
Tool no.
TT: Wear tolerance in length LTOL
17
Tool no.
TT: Wear tolerance in radius RTOL
18
Tool no.
TT: Direction of rotation DIRECT 0 = positive, –1 = negative
19
Tool no.
TT: Offset in plane R-OFFS R = 99 999.9999
20
Tool no.
TT: Offset in length L-OFFS
21
Tool no.
TT: Break tolerance in length LBREAK
22
Tool no.
TT: Break tolerance in radius RBREAK
23
Tool no.
PLC value
Data Transfer NC > PLC, PLC > NC
9 – 35
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
24
Tool no.
Probe center offset in reference axis CAL-OF1
25
Tool no.
Probe center offset in minor axis CAL-OF2
26
Tool no.
Spindle angle during calibration CAL-ANG
27
Tool no.
Tool type for pocket table
28
Tool no.
Maximum speed NMAX
1
–
Basic rotation (manual)
3
–
Active mirrored axes Bits 0 to 2 and 6 to 8: Axes X, Y, Z and U, V, W
6
–
Tilt working plane during Program Run mode (0 = inactive, –1 = active)
7
–
Tilt working plane in Manual mode (0 = inactive, –1 = active)
–
–
0: Tool axis Z 1: Tool axis X 2: Tool axis Y 3: Tool axis from TOOL CALL
2
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Negative software limit switches
3
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Positive software limit switches
4
Number of axes whose software limit switches are to be overwritten
Number of the first of several consecutive Q parameters 1st Q: Neg. limit switch in 1st axis 2nd Q: Pos. limit switch in 1st axis 3rd Q: Neg. limit switch in 2nd axis etc.
5
–
Limit switch monitoring (1 = off, 0 = on)
1
–
Tilting axis geometry description
Coordinate transformation 210
Exchange tool axis 212
Traverse range 230
Swivel axes 290
9 – 36
HEIDENHAIN Technical Manual iTNC 530
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
10
–
Tool axis
TS touch-trigger probe 350
11
–
Effective radius
12
–
Effective length
13
–
Radius of calibration ring
14
1
Center offset (reference axis)
2
Center offset (minor axis)
–
Center offset direction
1
Center of axis 1
2
Center of axis 2
3
Center of axis 3
15 TT touch probe for tool measurement 350
20
21
–
Effective radius
22
1
Probing position 1 in axis X
2
Probing position 1 in axis Y
3
Probing position 1 in axis Z
1
Probing position 2 in axis X
2
Probing position 2 in axis Y
23
24
25
3
Probing position 2 in axis Z
1
Probing position 3 in axis X
2
Probing position 3 in axis Y
3
Probing position 3 in axis Z
1
Probing position 4 in axis X
2
Probing position 4 in axis Y
3
Probing position 4 in axis Z
0
0 = Globally effective Depends on MP7475
Coordinate transformation 420
0
Write values into active datum table 500
Line
Column
501
Line
Column
September 2006
Data Transfer NC > PLC, PLC > NC
9 – 37
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
Write values into the active preset table 502
Line
Column
Write value with conversion of the currently active coordinate system into the preset table
503
Line
Column
Write value into the preset table without conversion
504
Line
Column
Write basic rotation into the preset table
530
1
–
Activate preset
1
1 to 9
“Variables” 1 to 9 can only be read with FN18: SYSREAD ID590 NR1. Deletion depends on MP7300.
1
Axis
Factor for velocity semifeedforward
2
0 or NO ENT
Use factor from MP1396.x
1
–
Approach behavior: 0 = Standard behavior 1 = Effective radius, safety clearance zero
2
–
0.0= Touch probe monitoring off, M4057 not used 1.0 = Touch probe monitoring on, M4057 not used 2.0 = Touch probe monitoring off, M4057 used 3.0 = Touch probe monitoring on, M4057 used
3
–
Place probe data of the manual probing cycles into the tool table
6
–
Touch probe cycle 3 0.0 = Input X12 1.0 = Input X13
Save machine statuses 590
Velocity semifeedforward control 600 Touch probe cycles 990
9 – 38
HEIDENHAIN Technical Manual iTNC 530
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
1
Transformation of the manual mode coordinate system into the active coordinate system (e.g. rotated, shifted)
2
Transformation of the active coordinate system (e.g. rotated, shifted) into the manual mode coordinate system
5
5
Ask if due to a tilt motion, an axis is shown in an untilted coordinate system on top of another axis. The number of the first of two sequential Q parameters must be given. It contains the axis to be asked (0 = X, 1 = Y, 2 = Z). The second Q parameter should return the corresponding image (0 = X, 1 = Y, 2 = Z, –1 = Axis has no image).
8
–
Spindle orientation including the angle
1
The machine-parameter subfiles defined in OEM.SYS via MPFRAGMENT = (0 to 9) can be activated, or if MPFRAGMENTFILE = given in OEM.SYS is used, you can enter the line with the corresponding machineparameter subfile (0 to n).
2
–
Deactivate machine-parameter subfile
Coordinate transformation 990
4
Activate machine parameter subfile 1020
PLC data PLC data Block transfer of up to 8 variables possible Example, “Writing Q parameters to PLC markers”: FN 17: SYSWRITE ID2000 NR10 IDX880 = BLOCK Q1620 - Q1627 2000
September 2006
10
Marker no.
PLC markers
60
Byte no.
PLC byte
70
Word no.
PLC word
80
Double-word no. PLC double word
Data Transfer NC > PLC, PLC > NC
9 – 39
9.5.4 Data Transfer NC > NC Program (FN18: SYSREAD) You can use the FN18: SYSREAD function particularly for OEM cycles if you wish to access certain NC data, e.g., active tool compensation values, from the NC program. A group number, a system data number, and an index specify the particular item of system data that you read: FN18: SYSREAD Qxxx = IDxxxx NRxxxx IDXxxxx (xxxx: Q parameter or numerical value); comment Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
1
–
mm = 0, inch = 1
2
–
Overlap factor for pocket milling
3
–
Number of the active fixed cycle
4
–
Number of the last DEF-active OEM cycle
Program information 10
Machine state 20
9 – 40
1
–
Tool number
2
–
Prepared tool number
3
–
Active tool number 0=X6=U 1=Y7=V 2=Z8=W
4
–
Programmed spindle speed
5
–
Active spindle status –1 = Spindle status undefined 0 = M3 active 1 = M4 active 2 = M5 active after M3 3 = M5 active after M4
8
–
Active coolant status 0 = off, 1 = on
9
–
Active feed rate
11
–
Index of the active tool
15
Number of the logical axis
Assignment of the logical axes and geometrical axes (0 = X, 1 = Y, 2 = Z, 3 = A, 4 = B, 5 = C, 6 = U, 7 = V, 8 = W)
17
–
Current traverse range
HEIDENHAIN Technical Manual iTNC 530
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
1
–
Setup clearance
2
–
Total hole depth/milling depth
3
–
Plunging depth
4
–
Feed rate for plunging
5
–
First side length of pocket
6
–
Second side length of pocket
7
–
First side length of slot
8
–
Second side length of slot
9
–
Radius of circular pocket
10
–
Feed rate for milling
11
–
Rotational direction of the milling path
12
–
Dwell time
13
–
Thread pitch
Cycle parameters 30
14
–
Finishing allowance
15
–
Roughing angle
1
Tool no.
Tool length L
2
Tool no.
Tool radius R
3
Tool no.
Tool radius R2
Data from the tool table 50
September 2006
4
Tool no.
Oversize in tool length DL
5
Tool no.
Oversize in tool radius DR
6
Tool no.
Oversize in tool radius DR2
7
Tool no.
Tool locked TL 0 = not locked, 1 = locked
8
Tool no.
Number of the replacement tool RT
9
Tool no.
Maximum tool age TIME1
10
Tool no.
Maximum tool age TIME2
11
Tool no.
Current tool age CUR. TIME
12
Tool no.
PLC status
13
Tool no.
Maximum tooth length LCUTS
14
Tool no.
Maximum plunge angle ANGLE
15
Tool no.
TT: Number of tool teeth CUT
Data Transfer NC > PLC, PLC > NC
9 – 41
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
16
Tool no.
TT: Wear tolerance in length LTOL
17
Tool no.
TT: Wear tolerance in radius RTOL
18
Tool no.
TT: Direction of rotation DIRECT 0 = positive, –1 = negative
19
Tool no.
TT: Offset in plane R-OFFS R = 99 999.9999
20
Tool no.
TT: Offset in length L-OFFS
21
Tool no.
TT: Break tolerance in length LBREAK
22
Tool no.
TT: Break tolerance in radius RBREAK
23
Tool no.
PLC value
24
Tool no.
Probe center offset in reference axis CAL-OF1
25
Tool no.
Probe center offset in minor axis CAL-OF2
26
Tool no.
Spindle angle during calibration CAL-ANG
27
Tool no.
Tool type for pocket table
28
Tool no.
Maximum speed NMAX
Data from the pocket table 51
9 – 42
1
Pocket number
Tool number
2
Pocket number
0 = not a special tool 1 = special tool
3
Pocket number
0 = not a fixed pocket 1 = fixed pocket
4
Pocket number
0 = not a locked pocket 1 = locked pocket
5
Pocket number
PLC status
6
Pocket number
Tool type
7 to 11
Pocket number
P1 to P5
12
Pocket number
0 = not a reserved pocket 1 = reserved pocket
13
Pocket number
Pocket above is locked
14
Pocket number
Pocket below is locked
15
Pocket number
Pocket to the left is locked
16
Pocket number
Pocket to the right is locked
HEIDENHAIN Technical Manual iTNC 530
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
52
1
Tool number
Pocket number P
2
Tool number
Tool magazine number
1
–
Number of lines of the selected tool table
Tool pocket
File information 56
2
Number of lines of the selected datum table
3
No. of the 1st of Number of axes programmed in the 9 consecutive selected datum table (the function is Q parameters identical to FN18: SYSREAD ID990 NR3) for axes X, Y, Z, A, B, C, U, V, W
Values programmed in TOOL CALL 60
September 2006
1
–
Tool number T (the TNC 426/430 reads a tool index as a decimal character)
2
–
Active tool number 0=X6=U 1=Y7=V 2=Z8=W
3
–
Spindle speed S
4
–
Oversize in tool length DL
5
–
Oversize in tool radius DR
6
–
Automatic TOOL CALL 0 = yes, 1 = no
7
–
Oversize in tool radius DR2
8
–
Tool index
Data Transfer NC > PLC, PLC > NC
9 – 43
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
0
Tool no.
–1: Sequence cannot be ascertained 0: Tool already in the spindle 1: Manual tool → manual tool 2: Normal tool → manual tool 3: Special tool → manual tool 4: T0 → manual tool 5: Manual tool → normal tool 6: Normal tool → normal tool 7: Special tool → normal tool 8: T0 → normal tool 9: Manual tool → special tool 10: Normal tool → special tool 11: Special tool → special tool 12: T0 → special tool 13: Manual tool → T0 14: Normal tool → T0 15: Special tool → T0
–
1 = Valid position
Tool-change sequence 61
Position programmed in TOOL CALL 70
1 2
1
Position in X axis
2
Position in Y axis
3
Position in Z axis
3
–
Feed rate (–1 = no feed rate programmed)
1
–
Active radius (including oversizes) with algebraic signs
2
–
Active length (including oversizes)
Tool compensation 200
9 – 44
HEIDENHAIN Technical Manual iTNC 530
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
–
Basic rotation (manual)
Coordinate transformation 210
1 2
–
Programmed rotation
3
–
Active mirrored axes Bits 0 to 2 and 6 to 8: Axes X, Y, Z and U, V, W
4
1
Active scaling factor in X
2
Active scaling factor in Y
3
Active scaling factor in Z
7
Active scaling factor in U
8
Active scaling factor in V
9
Active scaling factor in W
1
3-D ROT A
2
3-D ROT B
3
3-D ROT C
6
–
Tilt working plane in Program Run mode (0 = inactive, –1 = active)
7
–
Tilt working plane in Manual mode (0 = inactive, –1 = active)
8
–
Angle of misalignment between the spindle and the tilted coordinate system
214
8
–
Tolerance programmed in Cycle 32 or MP1096
220
2
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Current datum shift
3
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Difference between reference point and datum point
4
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Current PLC datum shift
2
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Negative software limit switches
3
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Positive software limit switches
5
Traverse range 230
September 2006
Data Transfer NC > PLC, PLC > NC
9 – 45
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
Nominal position in the REF system 240
1
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Current position in the active coordinate system 270
1
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Note: Does not apply to axes that are only displayed. Solution only possible via PLC or FN 20: WAIT FOR SYNC FN 18: SYSREAD Q = ID2000 ...
1
–
–1 = M128 active, 0 = M128 not active
2
–
Feed rate programmed with M128
1
–
Current tilting axis geometry description
2
Number of the bit
Values of the individual bits of the active MP7500 (kinematics table or machine parameters)
310
144
–
–1 = M144 active 0 = M144 not active
310
116
–
0 = M116 active 0 = M116 not active
1
0
Current system time on the control
10
–
Tool axis
11
–
Effective radius
12
–
Effective length
M128 active 280
Swivel axes 290
M144 active
System time on the control 320 TS touch-trigger probe 350
13
–
Radius of calibration ring
14
1
Center offset (reference axis)
2
Center offset (minor axis)
–
Direction of the center offset with respect to spindle 0°
15
9 – 46
HEIDENHAIN Technical Manual iTNC 530
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
1
Center of axis 1
2
Center of axis 2
3
Center of axis 3
21
–
Effective radius
22
1
Probing position 1 in axis X
2
Probing position 1 in axis Y
3
Probing position 1 in axis Z
1
Probing position 2 in axis X
2
Probing position 2 in axis Y
TT touch probe for tool measurement 350
20
23
3
Probing position 2 in axis Z
1
Probing position 3 in axis X
2
Probing position 3 in axis Y
3
Probing position 3 in axis Z
1
Probing position 4 in axis X
2
Probing position 4 in axis Y
3
Probing position 4 in axis Z
1
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Last datum of a manual touch probe cycle or last touch point from cycle 0 without probe length compensation, but with probe radius compensation (workpiece coordinate system)
2
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Last datum of a manual touch probe cycle or last touch point from cycle 0 without probe length or probe radius compensation (machine coordinate system)
3
–
Measurement result of touch probe cycles 0 and 1 without probe radius or length compensation
24
25
Datum from touch probe cycle 360
Read values from active datum table 500
Line
Column
Read values
501
Line
Column
Read REF values
505
1
–
0 = No datum table selected 1 = Datum table selected
September 2006
Data Transfer NC > PLC, PLC > NC
9 – 47
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
Read values from the active preset table 502
Line
Column
Read value with conversion in the currently active coordinate system from the preset table
504
Line
Column
Read basic rotation from the preset table
1
–
Active lines
2
–
Pallet number from column Name
Write values from active pallet table 510
3
–
Active line of the pallet table
4
–
Last line of the NC program of the current pallet
5
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Tool-Oriented Machining 0 = Safety height not programmed 1 = Safety height programmed
6
1 to 9 (X, Y, Z, A, B, C, U, V, W)
Programmed safety height in a pallet table for tool-oriented machining
1
–
Active lines
2
Line in the preset table
0 = Line is not write-protected ≠ 0 = Line is write-protected
590
1
1 to 9
“Variables” 1 to 9 can only be written with FN17: SYSWRITE ID590 NR1. Deletion depends on MP7300.
630
0
1 to 99
You can explicitly determine whether the SIK option given in IDX is set or not 1 = Option is enabled 0 = Option is not enabled
630
1
–
It can be determined whether a Feature Content Level (for upgrade functions) is set, and which one. –1 = No FCL is set = FCL that is set
Preset table 530
Read machine statuses
9 – 48
HEIDENHAIN Technical Manual iTNC 530
Group name
Group number ID....
System data number NR....
System data index IDX....
System data item
1
–
Approach behavior 0 = Standard behavior 1 = Effective radius, safety clearance zero
2
10
0.0 = Execution not in block scan 1.0 = Execution in block scan –1.0 = Invalid index
16
0.0 = Execution not in Automatic operating mode 1.0 = Execution in Automatic operating mode –1.0 = Invalid index
Touch probe cycles 990
Coordinate transformation 3
No. of the 1st of Number of axes that are programmed 9 consecutive in the selected datum table Q parameters for axes X, Y, Z, A, B, C, U, V, W
8
–
Current spindle angle
MP number
MP index
Value of the machine parameter (even with MP1054.x and MP7530.x, if they don’t have a formula)
410
3 or 4
ASCII value of the axis designation from MP410.3 or MP410.4
MP number
MP index
0 = MP does not exist 1 = MP exists
Machine parameters 1000
1010
PLC data (block transfer of up to 8 variables possible) Example “Reading PLC markers to Q parameters”: FN 18: SYSREAD BLOCK Q1620 - Q1627 = ID2000 NR10 IDX880 2000
September 2006
10
Marker no.
PLC markers
20
Input no.
PLC input
30
Output no.
PLC output
40
Counter no.
PLC counter
50
Timer no.
PLC timers
60
Byte no.
PLC byte
70
Word no.
PLC word
80
Double-word no. PLC double word
Data Transfer NC > PLC, PLC > NC
9 – 49
9.5.5 Data Transfer of Machine Parameters > PLC Up to 192 machine parameters are reserved for data transfer to the PLC. The iTNC saves the contents of MP4210.x, MP4220.x and MP4310.x in PLC words. You must call the contents of MP4230.x and MP4231.x by using Module 9032. In these machine parameters you can save, for example, values for PLC positioning or datum shifts, feed rates for PLC positioning or coding for the release of certain PLC functions. The number of indexes for MP4230.x can be increased to a maximum of 99 with the NUMBERMP4230 = entry in OEM.SYS. No entry or an invalid entry defines 32 indexes for MP4230.x. You must evaluate the transferred numerical values in your PLC program. The iTNC internally rounds input values less than 0.001 mm (or °) to 0.001 mm (or °).
D768 D772 D776 D780 D784 D788 D792 D796 D800 D804 D808 D812 D816 D820 D824 D828 D832 D836 D840 D844 D848 D852 D856 D860 D864 D868 D872 D876
9 – 50
Value from MP4210.0 Value from MP4210.1 Value from MP4210.2 Value from MP4210.3 Value from MP4210.4 Value from MP4210.5 Value from MP4210.6 Value from MP4210.7 Value from MP4210.8 Value from MP4210.9 Value from MP4210.10 Value from MP4210.11 Value from MP4210.12 Value from MP4210.13 Value from MP4210.14 Value from MP4210.15 Value from MP4210.16 Value from MP4210.17 Value from MP4210.18 Value from MP4210.19 Value from MP4210.20 Value from MP4210.21 Value from MP4210.22 Value from MP4210.23 Value from MP4210.24 Value from MP4210.25 Value from MP4210.26 Value from MP4210.27
Set
Reset
NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC
NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC
HEIDENHAIN Technical Manual iTNC 530
D880 D884 D888 D892 D896 D900 D904 D908 D912 D916 D920 D924 D928 D932 D936 D940 D944 D948 D952 D956 W960 W962 W964 W966 W968 W976 W978 W980 W982 W984 W986 W988 M4300 - M4315 M4316 - M4331 M4332 - M4347 M4348 - M4363 M4364 - M4379 M4380 - M4395 M4396 - M4411
September 2006
Value from MP4210.28 Value from MP4210.29 Value from MP4210.30 Value from MP4210.31 Value from MP4210.32 Value from MP4210.33 Value from MP4210.34 Value from MP4210.35 Value from MP4210.36 Value from MP4210.37 Value from MP4210.38 Value from MP4210.39 Value from MP4210.40 Value from MP4210.41 Value from MP4210.42 Value from MP4210.43 Value from MP4210.44 Value from MP4210.45 Value from MP4210.46 Value from MP4210.47 Value from MP4220.0 Value from MP4220.1 Value from MP4220.2 Value from MP4220.3 Value from MP4220.4 Value from MP4310.0 Value from MP4310.1 Value from MP4310.2 Value from MP4310.3 Value from MP4310.4 Value from MP4310.5 Value from MP4310.6 Value from MP4310.0 Value from MP4310.1 Value from MP4310.2 Value from MP4310.3 Value from MP4310.4 Value from MP4310.5 Value from MP4310.6
Data Transfer NC > PLC, PLC > NC
Set
Reset
NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC
NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC
9 – 51
MP4210.0-47 Setting a number in the PLC (D768 to D956) Input: –99 999.9999 to +99 999.9999 MP4220.0-4 Setting a number in the PLC (W960 to W968) Input: 10 to 30 000 MP4230.0-31 Setting a number in the PLC (Module 9032) The number of indexes can be increased via an entry in OEM.SYS. Input: –99 999.9999 to +99 999.9999 MP4231.0-31 Setting a number in the PLC (Module 9032) Input: –99 999.9999 to +99 999.9999 MP4310.0-6 Setting a number in the PLC (W976 to W988, M4300 to M4411) Format: Number, $xxxx [Hex], %xxxxxxxxxxxxxxxx [Bin] Input: 0 to 65 535 Module 9032 Read machine parameters With this module you can read the value of the given machine parameter from the active machine parameter file. The input value is transferred as a natural number with the decimal point shifted by the number of possible decimal places. Only the value from the editable machine parameter file is read, not any value modified in the run-time memory by PLC Module 9031. For non-indexed machine parameters, zero must be transferred as the index. Call only in a submit job. Call: PS PS CM PL
9 – 52
B/W/D/K B/W/D/K 9032 B/W/D
1: MP number does not exist 2: No separator (:) 3: MP value out of range 4: MP not found in file 5: No MP file found 6: Call was not in a submit job. 7: MP is of the “string” type 8: No system memory
HEIDENHAIN Technical Manual iTNC 530
9.5.6 Interrogate PLC Operands in the NC Program (FN20: WAIT FOR) With FN20: WAIT FOR you can interrupt the NC program until the condition programmed in the FN20 block is fulfilled. These conditions can be comparisons of a PLC operand with a constant. Permitted PLC operands: M, B, W, D, T, C, I, O Operator
Function
==
Equal
!= or
Not equal
<
Less than
>
Greater than
=
Greater than or equal
If you enter no condition, the interruption will continue until the operand = 0. Examples: FN20: WAIT FOR I10==1 Continue the NC program if PLC input I10 is set. FN20: WAIT FOR I10 Continue the NC program if PLC input I10 equals zero. FN20: WAIT FOR B3000>250 Continue the NC program if the content of B3000 is greater than 250. FN20: WAIT FOR is processed in look-ahead, i.e. if a synchronization with real time is necessary, then FN20: WAIT FOR SYNC must be programmed in the preceding NC block. Look-ahead is then stopped, and FN20: WAIT FOR is not performed until this block is actually reached in the NC program.
September 2006
Data Transfer NC > PLC, PLC > NC
9 – 53
9.6 Operands 9.6.1 Overview of Operands
Operand
Short designation
Address range
Marker
M
M0 to M9999 M0 to M999 are free. They are deleted only after entering the code number 531210, not during a reset (nonvolatile area). The range can be reduce in the *.CFG file of the PLC compiler. M1000 to M3999 free, are deleted upon reset M4000 to M5999 reserved for NC/PLC interface (M4800 to M4999 are deleted before the first run of the PLC program, e.g. after compilation or restarting). M6000 to M9999 are free; they are deleted during reset.
Input
I
I0 to I31 (MC 42x(B)) I128 to I152 (machine operating panel) I64 to I127 (first PL) I192 to I255 (second PL) I256 to I319 (third PL) I320 to I383 (fourth PL)
Output
O
O0 to O30 (MC 42x(B)) O0 to O7 (via machine operating panel) O32 to O62 (first PL) O64 to O94 (second PL) O128 to O158 (third PL) O160 to O190 (fourth PL)
Counter
C
Set counter: C0 to C47 Counter contents: C48 to C95 Counter pulse release: C96 to C143
Timer
T
Timer start: T0 to T47 Timer is running: T48 to T95 and T96 to T999
Byte
B
B0 to B9999 (8 bits)
Word
W
Double word
D
B0 to B255 are free; depending on the definition in the *.CFG file of the PLC compiler, the defined range is deleted only after entering the code number 531210, but not during a reset (nonvolatile range). If no range is defined in the *.CFG file, B0 to B127 is the nonvolatile range. B256 to B2047 are reserved for NC/PLC interface. B2048 to B9999 are free. They are deleted by a reset.
Constant
K
–2 147 483 647 to +2 147 483 647
String
S
S0 to S99
9 – 54
HEIDENHAIN Technical Manual iTNC 530
9.6.2 Operand Addressing (Byte, Word and Double Word) The memory for operands B (8 bits), W (16 bits), and D (32 bits) is only 8 bits wide. Since the operands can be 8, 16 or 32 bits wide, an overlap of the memory areas will occur, which you must take into account when addressing the memory. Double word
Word
D0
W2
Byte
W0 D4
W6 W4
Memory
Word address Double word address
B3
8 bits
High byte
B2
8 bits
Low byte
B1
8 bits
High byte
B0
8 bits
Low byte
B7
8 bits
High byte
B6
8 bits
Low byte
B5
8 bits
B4
8 bits
Highest byte
Lowest byte
• • •
• • •
• • •
• • •
• • •
• • •
D9996
W9998
B9999
8 bits
High byte
Highest byte
B9998
8 bits
Low byte
W9996
B9997
8 bits
High byte
B9996
8 bits
Low byte
Lowest byte
For byte addressing, every address is accessible; for word addressing, every second address; and for double word addressing, every fourth from 0 to 9996. The address parameter indicates the low byte of the word address (W) and the lowest byte of the double-word address (D). Markers, timers and counters are addressed with the corresponding code letters M, T or C followed by the operand number (e.g. M500, T7, C18).
September 2006
Operands
9 – 55
9.6.3 Timers The PLC has over 952 timers, which you control through special markers with the symbol T. You define the run time of the timers T0 to T47 in MP4110.x, and the run time of timers T96 to T999 in MP4111.x. MP4111.x is defined by entering the keyword NUMBERMP4111 = followed by the required number of timers in the OEM.SYS file. The unit of time (input value 1 in MP4110.x and MP4111.x) is seconds. You can start the first 48 timers by setting one of the timers T0 to T47 for at most one PLC scan (otherwise the iTNC restarts the timer with the negative edge for each additional scan). The iTNC reserves the timer with the duration defined in MP4110.x, and sets the markers T48 to T95 (timer is running) until the defined duration has expired. You can also set and start the timers T0 to T47 with Module 9006. Timers T96 to T999 can be started only through Module 9006. Module 9197 can define and start cyclic timers (> T96). They are reset for a PLC cycle and are then automatically restarted. Example: Start of timer 1 Run time in MP4110.1 = 9 (PLC cycles)
9 – 56
Timer starts
Timer is running
Machine parameters
T0
T48
MP4110.0
T1
T49
MP4110.1
T2
T50
MP4110.2
T3
T51
MP4110.3
T4
T52
MP4110.4
T5
T53
MP4110.5
T6
T54
MP4110.6
T7
T55
MP4110.7
T8
T56
MP4110.8
T9
T57
MP4110.9
T10
T58
MP4110.10
T11
T59
MP4110.11
HEIDENHAIN Technical Manual iTNC 530
Timer starts
Timer is running
Machine parameters
T12
T60
MP4110.12
T13
T61
MP4110.13
T14
T62
MP4110.14
T15
T63
MP4110.15
T16
T64
MP4110.16
T17
T65
MP4110.17
T18
T66
MP4110.18
T19
T67
MP4110.19
T20
T68
MP4110.20
T21
T69
MP4110.21
T22
T70
MP4110.22
T23
T71
MP4110.23
T24
T72
MP4110.24
T25
T73
MP4110.25
T26
T74
MP4110.26
T27
T75
MP4110.27
T28
T76
MP4110.28
T29
T77
MP4110.29
T30
T78
MP4110.30
T31
T79
MP4110.31
T32
T80
MP4110.32
T33
T81
MP4110.33
T34
T82
MP4110.34
T35
T83
MP4110.35
T36
T84
MP4110.36
T37
T85
MP4110.37
T38
T86
MP4110.38
T39
T87
MP4110.39
T40
T88
MP4110.40
T41
T89
MP4110.41
T42
T90
MP4110.42
T43
T91
MP4110.43
T44
T92
MP4110.44
T45
T93
MP4110.45
T46
T94
MP4110.46
T47
T95
MP4110.47
MP4110.0-47 Run time PLC timer T0 to T47 Input: 0 to 1 000 000.000 [s] MP4111.96-x Run time PLC timer T96 to x (defined in OEM.SYS) Input: 0 to 1 000 000.000 [s]
September 2006
Operands
9 – 57
Module 9006:Set and start PLC timer With Module 9006 you can set the cycle time for a PLC timer and start the timer. Constraints: If during a PLC scan a timer from T0 to T47 is set in the PLC program, and the same timer is activated through Module 9006, then the direct activation through T0 to T47 has priority regardless of whether the module is called before or after setting T0 to T47. Immediately after the module call, one of the markers T48 to T96 is set. T0 to T47 are not set. The iTNC rounds the actual run time to integral PLC cycle times. Cancel run time: Reset timers T48 to T999. Call: PS PS
CM
B/W/D/K Input value: 0 to 999 B/W/D/K 0 to 1 000 000 000 [ms] –1: Run time from MP4110.x or MP4111.x 9006
Error recognition: Marker
Value
Meaning
M4203
0
Timer started
1
Error. See W1022.
W1022
1
Invalid timer number or excessive run time
2
Timer already assigned for cyclic timer
3
Timer is started as cyclic timer (Module 9197)
Module 9197 Start cyclic timer Module 9197 can define and start a timer > T96 as cyclic timer. After expiration of the defined time, the timer is reset for a PLC cycle and afterwards is automatically restarted. Stop timer: Transfer run time 0 The iTNC rounds the actual run time to integral PLC cycle times. Call: PS PS
CM
B/W/D/K 96 to 999 B/W/D/K 0 to 1 000 000 000 [ms] –1: Run time from MP4111.x 9197
Error recognition: Marker
Value
Meaning
M4203
0
Timer started
1
Error. See W1022.
W1022
9 – 58
1
Excessive run time
3
Invalid timer number
HEIDENHAIN Technical Manual iTNC 530
9.6.4 Counters The PLC has 48 counters, which you control through special markers with the symbol C. After you have set a marker from the C0 to C47 range, the iTNC loads the counter with the value that is saved in machine parameter MP4120.x. The marker range C48 to C95 indicates whether the counter has expired. With markers C96 to C144 you can start and stop the counter. MP4020 bit 11 defines whether the counter is defined in PLC cycles or seconds. In this way, the counters can also be used as timers. With this definition of counters in PLC cycles, the decimal places are not evaluated by MP4120.x. Example: Logic diagram for counter C1 Preset value in MP4120.1 = 10 (PLC cycles or seconds)
September 2006
Set counter
Counter is running
Counter is started
Machine parameters
C0
C48
C96
MP4120.0
C1
C49
C97
MP4120.1
C2
C50
C98
MP4120.2
C3
C51
C99
MP4120.3
C4
C52
C100
MP4120.4
C5
C53
C101
MP4120.5
C6
C54
C102
MP4120.6
C7
C55
C103
MP4120.7
C8
C56
C104
MP4120.8
C9
C57
C105
MP4120.9
C10
C58
C106
MP4120.10
C11
C59
C107
MP4120.11
C12
C60
C108
MP4120.12
C13
C61
C109
MP4120.13
C14
C62
C110
MP4120.14
C15
C63
C111
MP4120.15
C16
C64
C112
MP4120.16
C17
C65
C113
MP4120.17
C18
C66
C114
MP4120.18
Operands
9 – 59
Set counter
Counter is running
Counter is started
Machine parameters
C19
C67
C115
MP4120.19
C20
C68
C116
MP4120.20
C21
C69
C117
MP4120.21
C22
C70
C118
MP4120.22
C23
C71
C119
MP4120.23
C24
C72
C120
MP4120.24
C25
C73
C121
MP4120.25
C26
C74
C122
MP4120.26
C27
C75
C123
MP4120.27
C28
C76
C124
MP4120.28
C29
C77
C125
MP4120.29
C30
C78
C126
MP4120.30
C31
C79
C127
MP4120.31
C32
C80
C128
MP4120.32
C33
C81
C129
MP4120.33
C34
C82
C130
MP4120.34
C35
C83
C131
MP4120.35
C36
C84
C132
MP4120.36
C37
C85
C133
MP4120.37
C38
C86
C134
MP4120.38
C39
C87
C135
MP4120.39
C40
C88
C136
MP4120.40
C41
C89
C137
MP4120.41
C42
C90
C138
MP4120.42
C43
C91
C139
MP4120.43
C44
C92
C140
MP4120.44
C45
C93
C141
MP4120.45
C46
C94
C142
MP4120.46
C47
C95
C143
MP4120.47
MP4120.0-47 Preset value for PLC counters Input: 0 to 1 000 000.000 [s or PLC cycles, depending on MP4020, bit 11]
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HEIDENHAIN Technical Manual iTNC 530
9.6.5 Fast PLC Inputs With MP4130 you can define PLC inputs that are not interrogated within the PLC cycle, but rather in the control loop cycle. Markers M4590 to M4593 show the current state of the fast PLC inputs. You must activate the fast PLC inputs in the PLC program with W522 bit 2 to bit 5. For the iTNC to identify with certainty a signal change, the signal duration at the fast PLC input must last a minimum of 4 ms. MP4130 Input: MP4130.2 MP4130.3 MP4130.4 MP4130.5
Numbers of fast PLC inputs 0 to 255 [no. of the PLC input] Fast PLC input sets marker M4590 Fast PLC input sets marker M4591 Fast PLC input sets marker M4592 Fast PLC input sets marker M4593
MP4131.2-5 Activation criterion for fast PLC inputs Input: 0: Activate at LOW level 1: Activate at HIGH level
W522
Activate the high-speed PLC inputs Bit 2: Fast PLC input defined in MP4130.2
Set
Reset
PLC
PLC
Set
Reset
NC NC NC NC
PLC PLC PLC PLC
Bit 3: Fast PLC input defined in MP4130.3 Bit 4: Fast PLC input defined in MP4130.4 Bit 5: Fast PLC input defined in MP4130.5
M4590 M4591 M4592 M4593
Status fast PLC input from MP4130.2 Status fast PLC input from MP4130.3 Status fast PLC input from MP4130.4 Status fast PLC input from MP4130.5
Warning Only the PLC inputs of the MC 42x(B) can be defined as fast PLC inputs, and not the inputs on a PL.
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Operands
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9.7 Program Creation 9.7.1 ASCII Editor With the integrated editor you can create the PLC program and all other necessary files right at the control through the ASCII keyboard. You will find a comprehensive description of the editor including its soft keys in the User’s Manual of the control. 9.7.2 Program Format Command
A command is the smallest unit of a PLC program. It consists of the operation part and the operand part.
I
The operation describes the function to be executed. It says how the operand is to be processed by the iTNC. The operand shows what is to be operated with. It consists of the operand abbreviation and a parameter (address). With the PLC commands you can combine (gate), delete and load register and memory contents, both with bit and word processing. For word processing, you can address memory contents with a length of 8 bits (byte), 16 bits (word) or 32 bits (double word).
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HEIDENHAIN Technical Manual iTNC 530
9.7.3 Program Structure To make it easier to maintain and expand your PLC program, you should give it a modular structure. Modular means that you write a separate program module for each function. You can then call the individual modules from the main program. You should interrogate improper functioning of the machine in the PLC program and indicate such malfunctions on the screen with plainlanguage error messages. Module 9019 Size of the processing stack To debug functions you can use Module 9019 to interrogate the contents of the processing stack. The function answers with the number of the bytes that lie on the processing stack of the PLC at the moment. If the processing stack is empty, the iTNC returns the value zero. A byte, word, double word or string occupies four bytes on the stack; a marker, input, output, timer or counter occupies two bytes. Call: CM PL
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9019 B/W/D
Program Creation
9 – 63
9.7.4 Logical Names for Files Instead of a permanent file names, you can also enter logical names in PLC modules, such as PS S“>OEM.PLCMAIN“. Syntax: >Group.name Name of the entry Group name (NCPATH or OEM) Identifier for logical name Examples: >NCPATH.NCEDIT: The iTNC transfers the complete name and path of the file that is currently selected in the editing mode. >OEM.PLCMAIN: The iTNC transfers the complete name and path of the PLC program that was entered in the OEM.SYS file with the command PLCMAIN. List of the logical names: Group
Entry
Meaning
PLCEDIT
Selected file in the PLC Programming mode
NCEDIT
Selected file in the Programming and Editing mode
RUNPGM
Selected file in the Program Run mode
RUNDATUM
Selected datum table in the Program Run mode
SIMPGM
Selected file in the Test Run mode
SIMDATUM
Selected datum table in the Program Test mode
SIMTOOL
Selected tool table in the Program Test mode
RUNBRKPGM
Target file in the block scan in the Program Run mode
SIMBRKPGM
Target file in the block scan in the Program Test mode
MDIPGM
Selected file in the Positioning with Manual Data Input operating mode
TCHPATH
Selected datum table for manual probing
TABCMA
Active compensation table
NCPATH
OEM
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MODEHELP
Active help file
PLCMAIN
Active PLC main program
PLCPWM
Active PLC commissioning program for PLC axes
PLCEVENTS
Active event list for spawn command
PLCERRTAB
Active PLC error message list (PET)
WMAT
Active tool material file
TMAT
Active workpiece material file
MPFILE
Active machine parameter list
Your own entry
In the OEM.SYS file you can indicate the desired file names with path behind your own entry. For example, HUGO=TNC:\HUGO\TEST.H
HEIDENHAIN Technical Manual iTNC 530
9.8 PLC Commands 9.8.1 Overview The following table provides an overview of all commands explained in this chapter: Group of functions
Syntax
Function
Loading and saving instructions L
Load
LN
Load NOT
L–
Load two’s complement
LB
Load BYTE
LW
Load WORD
LD
Load double word
=
Assign
B=
Assign BYTE
W=
Assign WORD
D=
Assign DOUBLEWORD
=N
Assign NOT
=–
Assign two’s complement
Setting commands S
Set
R
Reset
SN
Set NOT
RN
Reset NOT
Logical operations A
And
AN
And NOT
O
Or
ON
Or NOT
XO
Exclusive OR
XON
Exclusive OR NOT
Arithmetical instructions
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+
Addition
–
Subtraction
x
Multiplication
/
Division
MOD
Remainder
PLC Commands
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Group of functions
Syntax
Function
INC
Increment operand
INCW
Increment word accumulator
INCX
Increment index register
DEC
Decrement operand
Increment
Decrement DECW
Decrement word accumulator
DECX
Decrement index register
==
Equal
Comparisons <
Less than
>
Greater than
=
Greater than or equal
Not equal
Parenthetical expression in logical operations A[ ]
And [ ]
AN[ ]
And NOT [ ]
O[ ]
Or [ ]
ON[ ]
Or NOT [ ]
XO[ ]
Exclusive OR [ ]
XON[ ]
Exclusive OR NOT [ ]
Parenthetical expressions with arithmetical instructions +[ ]
Addition [ ]
–[ ]
Subtraction [ ]
x[ ]
Multiplication [ ]
/[ ]
Division [ ]
MOD[ ]
Remainder [ ]
Parenthetical expressions in comparisons
9 – 66
==[ ]
Equal [ ]
[ ]
Greater than [ ]
=[ ]
Greater than or equal [ ]
[ ]
Equal [ ]
HEIDENHAIN Technical Manual iTNC 530
Group of functions
Syntax
Function
Shifting instructions >
Shift right
Bit commands BS
Bit set
BC
Bit reset
BT
Bit test
Stack operations PS
Push data onto the data stack
PL
Pull data from the data stack
PSL
Push logic accumulator onto the data stack
PSW
Push word accumulator onto the data stack
PLL
Pull logic accumulator from the data stack
PLW
Pull word accumulator from the data stack
Jump commands
September 2006
JP
Unconditional jump
JPT
Jump if logic accumulator = 1
JPF
Jump if logic accumulator = 0
CM
Call module
CMT
Call module if logic accumulator = 1
CMF
Call module if logic accumulator = 0
EM
End of module, program end
EMT
End of module if logic accumulator = 1
EMF
End of module if logic accumulator = 0
LBL
Label
PLC Commands
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9.8.2 LOAD (L) Logic processing with the LOAD command
Syntax:
L (LOAD)
Operands:
M, I, O, T, C
Action: Load the value of the addressed operand into the logic accumulator. Always use the L command at the beginning of a logic chain in order to be able to gate the operand in the following program sequence. Example: Gate the inputs I4 and I5 with AND, and assign the result to output O2. Initial state: Input I4 =1 Input I5 =0 Output O2 =? Function
STL
Load the operand content L I4 into the logic accu. Gate the content of the logic accumulator and input I5 with AND.
A I5
Assign the gating result to = O2 output O2.
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Logic accu.
Operand content
Logic accumulator = 1 0
0
HEIDENHAIN Technical Manual iTNC 530
Word processing with the LOAD command
Syntax:
L (LOAD)
Operands:
B, W, D, K
Action: Load the value of the addressed operand, or of a constant, into the word accumulator. If necessary, the accumulator is supplemented with the correct algebraic sign. In contrast to logical operations, you must always begin a sequence of word gating operations with an L command. You cannot replace the L command with a logical gating instruction. Example: Gate a constant and byte B5 with AND, and assign the result to byte B8. Initial state: Constant 54 = 36 (hex) Byte B5 = 2A (hex) Output B8 =? Function
STL
Load the constant into the L K+54 word accumulator.
September 2006
Accu. content
Operand content
36
Gate the contents of word A B5 accumulator and byte B5 with AND.
2A
Assign the gating result to = B8 byte B8.
22
PLC Commands
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9.8.3 LOAD NOT (LN) Logic processing with the LOAD NOT command
Syntax:
LN (LOAD NOT)
Operands:
M, I, O, T, C
Action: Load the complement of the addressed operand into the logic accumulator. Always use the L command at the beginning of a logic chain in order to be able to gate the operand in the following program sequence. Example: Gate the inverted logical state of inputs I4 and I5 with AND, and assign the result to output O2. Initial state: Input I4 =0 Input I5 =1 Output O2 =? Function
STL
Load the inverted operand LN I4 content into the logic accumulator. Gate the content of the logic accumulator and input I5 with AND.
A I5
Assign the gating result to = O2 output O2.
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Accu. content
Operand content
0
1
1
HEIDENHAIN Technical Manual iTNC 530
Word processing with the LOAD NOT command
Syntax:
LN (LOAD NOT)
Operands:
B, W, D, K
Action: Load the complement of the addressed operand, or of a constant, into the word accumulator. If necessary, the accumulator is supplemented with the correct algebraic sign. In contrast to logical operations, you must always begin a sequence of word gating operations with an L command. You cannot replace the L command with a logical gating instruction. Example: Gate the complement of byte B6 and byte B5 with AND, and assign the result to byte B8. Initial state: Byte B5 = 2A (hex) Byte B6 = B6 (hex) Byte B8 =?
September 2006
Function
STL
Accu. content
Invert byte B6, and load into the word accu.
LN B6
2A
Operand content
Gate the contents of word A B5 accumulator and byte B5 with AND.
B6
Assign the gating result to = B8 byte B8.
22
PLC Commands
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9.8.4 LOAD TWO’S COMPLEMENT (L–) Syntax:
L– (LOAD MINUS)
Operands:
B, W, D, K
Action: Load the two’s complement of the addressed operand, or of a constant, into the word accumulator. If necessary, the iTNC fills the accumulator with the correct algebraic sign. The two’s complement allows negative numbers to be stored, i.e., a number loaded with the L– command appears in the accumulator with an inverted sign. This command can be used only with word execution. Example: Negate the content of byte B5 and then add it to the content of byte B6. Assign the result to byte B8. Initial state: Byte B5 = 15 (dec) Byte B6 = 20 (dec) Byte B8 =?
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Function
STL
Accu. content
Operand content
Load byte B5 into the word accumulator, invert the algebraic sign.
L– B5
–15
+15
Add the contents of the word accumulator and byte B6.
+ B6
+5
+20
Assign the gating result to = B8 byte B8.
+5
+5
HEIDENHAIN Technical Manual iTNC 530
9.8.5 LOAD BYTE (LB) Syntax:
LB (LOAD BYTE)
Operands:
M, I, O, T, C
Action: Copy 8 markers, inputs, outputs, timer or counters with ascending numbering into the word accumulator. Each operand occupies one bit in the accumulator. The iTNC saves the entered operand address in the accumulator as LSB, the entered address +1 as LSB +1 etc. The last (8th) operand becomes the MSB! If necessary, the iTNC fills the accumulator with the correct algebraic sign. Example: A pure-binary coded value is read through inputs I3 to I10 and saved in byte B8 in order to process it later. Initial state: Input I3 =1 Input I7 =0 Input I4 =1 Input I8 =1 Input I5 =1 Input I9 =1 Input I6 =0 Input I10 =0 Function
STL
Accu. content
Operand content
7 6 5 4 3 2 1 0 I10 I9
I8
I7
I6
I5
I4
I3
LB I3
0 1 1 0 0 1 1 1 0
1
1
0
0
1
1
1
7
6
5
4
3
2
1
0
Assign accumulator contents to = B8 byte 8.
0 1 1 0 0 1 1 1 0
1
1
0
0
1
1
1
Load inputs I3 to I10 into the accumulator (bit 0 to bit 7).
9.8.6 LOAD WORD (LW) Syntax:
LW (LOAD WORD)
Operands:
M, I, O, T, C
Action: Copy 16 markers, inputs, outputs, timer or counters with ascending numbering into the word accumulator. Each operand occupies one bit in the accumulator. The iTNC saves the entered operand address in the accumulator as LSB, the entered address +1 as LSB +1 etc. The last (16th) operand becomes the MSB! If necessary, the iTNC fills the accumulator with the correct algebraic sign. Example: See example command LB. Use command LW in the same way as LB. However, the iTNC processes 16 operands.
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9.8.7 LOAD DOUBLE WORD (LD) Syntax:
LD (LOAD DOUBLE WORD)
Operands:
M, I, O, T, C
Action: Copy 32 markers, inputs, outputs, timer or counters with ascending numbering into the word accumulator. Each operand occupies one bit in the accumulator. The iTNC saves the entered operand address in the accumulator as LSB, the entered address +1 as LSB +1 etc. The last (32nd) operand becomes the MSB! If necessary, the iTNC fills the accumulator with the correct algebraic sign. Example: See example command LB. Use command LD in the same way as LB. However, the iTNC processes 32 operands. 9.8.8 ASSIGN (=) Logic processing with the ASSIGN command
Syntax:
= (STORE)
Operands:
M, I, O, T, C
Action: Assign the content of the logic accumulator to the addressed operand. Use the = command only at the end of a sequence of logical gating operations in order to transfer a gating result to a logic operand. This command can be used several times in succession (see example). Example: Gate the inputs I4 and I5 with AND, and assign the result to outputs O2 and O5. Initial state: Input I4 =1 Input I5 =0 Output O2 =? Output O5 =? Function
9 – 74
STL
Accu. content
Operand content
Load the operand content L I4 into the logic accu.
1
1
Gate the content of the logic accumulator and input I5 with AND.
0
0
Assign the gating result to = O2 output O2.
0
0
Assign the gating result to = O5 output O5.
0
0
A I5
HEIDENHAIN Technical Manual iTNC 530
Word processing with the ASSIGN command
Syntax:
= (STORE)
Operands:
B, W, D
Action: Assign the content of the word accumulator to the addressed operand. Unlike bit execution, in word processing you can also use the = command within a sequence of word-gating operations. This command can be used several times in succession. Example: Gate a constant and byte B5 with AND, and assign the result to byte B8 and byte B10. Initial state: Constant 54 = 36 (hex) Byte B5 = 2A (hex) Byte B8 =? Byte B10 =? Function
STL
Accu. content
Operand content
Load the constant into the L K+54 word accumulator.
36
Assign the contents of the word accumulator to byte B8.
= B8
36
36
Gate the contents of word A B5 accumulator and byte B5 with AND.
22
2A
Assign the gating result to = B8 byte B8.
22
22
Assign the gating result to = B10 byte B10.
22
22
9.8.9 ASSIGN BYTE (B=) Syntax:
B= (STORE BYTE)
Operands:
M, I, O, T, C
Action: Assign 8 markers from the word accumulator to inputs, outputs, timers or counters with ascending numbering. Every bit occupies an operand. The iTNC assigns the LSB in the accumulator to the operand address specified in the command, the specified address +1 as LSB +1 etc. The last (8th) operand is assigned the MSB. Example: See example of command W=. Use command B= in the same way as W=. However, the iTNC processes 8 operands.
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PLC Commands
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9.8.10 ASSIGN WORD (W=) Syntax:
W= (STORE WORD)
Operands:
M, I, O, T, C
Action: Assign 16 markers from the word accumulator to inputs, outputs, timers or counters with ascending numbering. Every bit occupies an operand. The iTNC assigns the LSB in the accumulator to the operand address specified in the command, the specified address +1 as LSB +1 etc. The last (16th) operand is assigned the MSB. Example: Transfer a certain bit pattern, located in word W8, to the output addresses O1 to O16. Initial state: Word W8 = 36FF (hex) Function
STL
Accu. content
Load content of word W8 into the word accumulator.
L W8
36FF
Operand content
O16 Assign accumulator content to outputs O1 to O16.
W= O1
36FF
.. .
O1
0 0 1 1 0 1 1 0 1 1 1 1 1 1 1 1
9.8.11 ASSIGN DOUBLE WORD (D=) Syntax:
D= (STORE DOUBLE WORD)
Operands:
M, I, O, T, C
Action: Assign 32 markers from the word accumulator to inputs, outputs, timers or counters with ascending numbering. Every bit occupies an operand. The iTNC assigns the LSB in the accumulator to the operand address specified in the command, the specified address +1 as LSB +1 etc. The last (32nd) operand is assigned the MSB. Example: See example of command W=. Use command D= in the same way as W=. However, the iTNC processes 32 operands.
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9.8.12 ASSIGN NOT (=N) Logic processing
Syntax:
=N (STORE NOT)
Operands:
M, I, O, T, C
Action: Assign the complement of the logic accumulator to the addressed operand. For procedure, see the example for the command ASSIGN (=). Word processing
Syntax:
=N (STORE NOT)
Operands:
B, W, D
Action: Assign the complement of the word accumulator to the addressed operand. For procedure, see the example for the command ASSIGN (=). 9.8.13 ASSIGN TWO’S COMPLEMENT (=–) Syntax:
=– (STORE MINUS)
Operands:
B, W, D
Action: Assign the TWO’S COMPLEMENT of the word accumulator to the addressed operand. For procedure, see the example for the command ASSIGN (=).
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PLC Commands
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9.8.14 SET (S) Syntax:
S (SET)
Operands:
M, I, O, T, C
Action: If the logic accumulator = 1, then set the addressed operand to 1, otherwise do not change it. Use the S command at the end of a sequence of logical gating operations in order to influence an operand independently from the result of gating. This command can be used several times in succession (see example). Example: Gate input I4 and I5 with OR. If the gating result is 1, then set output O2 and marker M500. Initial state: Input I4 =1 Input I5 =0 Output O2 =? Marker M500 =? Function
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Accu. content
Operand content
Load the operand content L I4 into the logic accu.
STL
1
1
Gate the content of the logic accumulator and input I5 with OR.
O I5
1
0
Since the result of the operation is 1, set output O2.
S O2
1
1
Since the result of the S M500 1 operation is 1, set marker M500.
1
HEIDENHAIN Technical Manual iTNC 530
9.8.15 RESET (R) Syntax:
R (RESET)
Operands:
M, I, O, T, C
Action: If the logic accumulator = 1, then set the addressed operand to 0, otherwise do not change it. Use the R command at the end of a sequence of logical gating operations in order to influence an operand independently from the result of gating. This command can be used several times in succession (see example). Example: Gate input I4 and I5 with OR. If the gating result is 1, then reset output O2 and marker M500. Initial state: Input I4 =1 Input I5 =0 Output O2 =? Marker M500 =? Function
September 2006
Accu. content
Operand content
Load the operand content L I4 into the logic accu.
STL
1
1
Gate the content of the logic accumulator and input I5 with OR.
O I5
1
0
Since the result of the operation is 1, reset output O2.
R O2
1
0
Since the result of the operation is 1, reset marker M500.
R M500 1
0
PLC Commands
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9.8.16 SET NOT (SN) Syntax:
SN (SET NOT)
Operands:
M, I, O, T, C
Action: If the logic accumulator = 0, then set the addressed operand to 1, otherwise do not change it. Use the SN command at the end of a sequence of logical gating operations in order to influence an operand independently from the result of gating. This command can be used several times in succession (see example). Example: Gate input I4 and I5 with OR. If the gating result is 0, then set output O2 and marker M500. Initial state: Input I4 =0 Input I5 =0 Output O2 =? Marker M500 =? Function
Accu. content
Operand content
Load the operand content L I4 into the logic accu.
STL
0
0
Gate the content of the logic accumulator and input I5 with OR.
O I5
0
0
Since the result of the operation is 0, set output O2.
SN O2
0
1
0
1
Since the result of the SN operation is 0, set marker M500 M500.
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9.8.17 RESET NOT (RN) Syntax:
RN (RESET NOT)
Operands:
M, I, O, T, C
Action: If the logic accumulator = 0, then set the addressed operand to 0, otherwise do not change it. Use the RN command at the end of a sequence of logical gating operations in order to influence an operand independently from the result of gating. This command can be used several times in succession (see example). Example: Gate input I4 and I5 with OR. If the gating result is 0, then reset output O2 and marker M500. Initial state: Input I4 =0 Input I5 =0 Output O2 =? Marker M500 =? Function
September 2006
Accu. content
Operand content
Load the operand content L I4 into the logic accu.
STL
0
0
Gate the content of the logic accumulator and input I5 with OR.
O I5
0
0
Since the result of the operation is 0, reset output O2.
RN O2
0
0
Since the result of the operation is 0, reset marker M500.
RN M500
0
0
PLC Commands
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9.8.18 AND (A) Logic processing with the AND command
Syntax:
A (AND)
Operands:
M, I, O, T, C
Action: At the beginning of a logic sequence, this command functions like an L command, i.e., the logical state of the operand is loaded into the logic accumulator. This is to ensure compatibility with the TNC 355, which does not have the special L command. In PLC programs, a sequence of logical gating operations should always begin with a load command (see L, LN, L–). Within a logic sequence, gate the content of the logic accumulator and the logical state of the operand with AND. The iTNC saves the result of the operation in the logic accumulator. Example: Gate the inputs I4 and I5 with AND, and assign the result to output O2. Initial state: Input I4 =1 Input I5 =0 Output O2 =? Function
STL
Accu. content
Operand content
Load the operand content L I4 into the logic accu.
1
1
Gate the content of the logic accumulator and input I5 with AND.
0
1
0
0
A I5
Assign the gating result to = O2 output O2.
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HEIDENHAIN Technical Manual iTNC 530
Word processing with the AND command
Syntax:
A (AND)
Operands:
B, W, D, K
Action: Gate the contents of the word accumulator and the operand with AND. In accordance with the different data widths of the operands (B = 8 bits; W = 16 bits; D = K = 32 bits), 8, 16 or 32 bits, respectively, are influenced in the accumulator. Thus, bit 0 of the accumulator is gated with bit 0 of the operand, bit 1 of the accumulator with bit 1 of the operand, etc. The iTNC saves the result of the operation in the word accumulator. Example: Gate the content of byte B5 and byte B6 with AND, and assign the result to byte B8. Initial state: Byte B5 = 2A (hex) Byte B6 = 36 (hex) Byte B8 =?
September 2006
Function
STL
Accu. content
Operand content
Load byte B6 into the word accumulator.
L B6
2A
2A
Gate the contents of word A B5 accumulator and byte B5 with AND.
22
36
Assign the gating result to = B8 byte B8.
22
22
PLC Commands
9 – 83
9.8.19 AND NOT (AN) Logic processing with the AND NOT command
Syntax:
AN (AND NOT)
Operands:
M, I, O, T, C
Action: At the beginning of a logic sequence, this command functions like an LN command, i.e., the logical state of the operand is loaded into the logic accumulator. However, you should always begin a sequence of logical gating operations with a load command (see L, LN, L–). Within a logic sequence, gate the content of the logic accumulator and the logical state of the operand with AND NOT. The iTNC saves the result of the operation in the logic accumulator. Example: Gate the inputs I4 and I5 with AND NOT, and assign the result to output O2. Initial state: Input I4 =1 Input I5 =1 Output O2 =? Function
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Accu. content
Operand content
Load the operand content L I4 into the logic accu.
STL
1
1
Gate the content of logic accumulator and input I5 with AND NOT.
AN I5
0
1
Assign the gating result to = O2 output O2.
0
0
HEIDENHAIN Technical Manual iTNC 530
Word processing with the AND NOT command
Syntax:
AN (AND NOT)
Operands:
B, W, D, K
Action: Gate the contents of the word accumulator and the operand with AND NOT. In accordance with the different data widths of the operands (B = 8 bits; W = 16 bits; D = K = 32 bits), 8, 16 or 32 bits, respectively, are influenced in the accumulator. Thus, bit 0 of the accumulator is gated with bit 0 of the operand, bit 1 of the accumulator with bit 1 of the operand, etc. The iTNC saves the result of the operation in the word accumulator. Example: Gate the content of words W4 and W6 with AND NOT, and assign the result to word W8. Initial state: Word W4 = 36 AA (hex) Word W6 = 3C 36 (hex) Word W8 =?
September 2006
Function
STL
Accu. content
Operand content
Load W6 into the word accumulator.
L W6
3C36
3C36
Gate the content of word AN W4 accumulator and word W4 with AND NOT.
814
36AA
Assign the gating result to = W8 word W8.
814
814
PLC Commands
9 – 85
9.8.20 OR (O) Logic processing with the OR command
Syntax:
O (OR)
Operands:
M, I, O, T, C
Action: At the beginning of a logic sequence, this command functions like an L command, i.e., the logical state of the operand is loaded into the logic accumulator. However, you should always begin a sequence of logical gating operations with a load command (see L, LN, L–). Within a logic sequence, gate the content of the logic accumulator and the logical state of the operand with OR. The iTNC saves the result of the operation in the logic accumulator. Example: Gate the inputs I4 and I5 with OR, and assign the result to output O2. Initial state: Input I4 =0 Input I5 =1 Output O2 =? Function
Accu. content
Operand content
Load the operand content L I4 into the logic accu.
STL
0
0
Gate the content of the logic accumulator and input I5 with OR.
1
1
1
1
O I5
Assign the gating result to = O2 output O2.
9 – 86
HEIDENHAIN Technical Manual iTNC 530
Word processing with the OR command
Syntax:
O (OR)
Operands:
B, W, D, K
Action: Gate the contents of the word accumulator and the operand with OR. In accordance with the different data widths of the operands (B = 8 bits; W = 16 bits; D = K = 32 bits), 8, 16 or 32 bits, respectively, are influenced in the accumulator. Thus, bit 0 of the accumulator is gated with bit 0 of the operand, bit 1 of the accumulator with bit 1 of the operand, etc. The iTNC saves the result of the operation in the word accumulator. Example: Gate the content of byte B5 and byte B6 with OR, and assign the result to word W8. Initial state: Byte B5 = 2A (hex) Byte B6 = 36 (hex) Word W8 =?
September 2006
Function
STL
Accu. content
Operand content
Load byte B6 into the word accumulator.
L B6
36
36
Gate the contents of the word accumulator and byte B5 with OR.
O B5
3E
2A
Assign the gating result to = W8 word W8.
3E
3E
PLC Commands
9 – 87
9.8.21 OR NOT (ON) Logic processing with the OR NOT command
Syntax:
ON (OR NOT)
Operands:
M, I, O, T, C
Action: At the beginning of a logic sequence, this command functions like an LN command, i.e., the complement of the operand is loaded into the logic accumulator. However, you should always begin a sequence of logical gating operations with a load command (see L, LN, L–). Within a logic sequence, gate the content of the logic accumulator and the logical state of the operand with OR NOT. The iTNC saves the result of the operation in the logic accumulator. Example: Gate the inputs I4 and I5 with OR NOT, and assign the result to output O2. Initial state: Input I4 =0 Input I5 =0 Output O2 =? Function
Accu. content
Operand content
Load the operand content L I4 into the logic accu.
STL
0
0
Gate the content of logic accumulator and input I5 with OR NOT.
1
0
1
1
ON I5
Assign the gating result to = O2 output O2.
9 – 88
HEIDENHAIN Technical Manual iTNC 530
Word processing with the OR NOT command
Syntax:
ON (OR NOT)
Operands:
B, W, D, K
Action: Gate the contents of the word accumulator and the operand with OR NOT. In accordance with the different data widths of the operands (B = 8 bits; W = 16 bits; D = K = 32 bits), 8, 16 or 32 bits, respectively, are influenced in the accumulator. Thus, bit 0 of the accumulator is gated with bit 0 of the operand, bit 1 of the accumulator with bit 1 of the operand, etc. The iTNC saves the result of the operation in the word accumulator. Example: Gate the content of words W4 and W6 with OR NOT, and assign the result to word W8. Initial state: Word W4 = 36 AA (hex) Word W6 = 3C 36 (hex) Word W8 =?
September 2006
Function
STL
Accu. content
Operand content
Load W6 into the word accumulator.
L W6
3C36
3C36
Gate the content of word ON W4 accumulator and word W4 with OR NOT.
FD77
36AA
Assign the gating result to = W8 word W8.
FD77
FD77
PLC Commands
9 – 89
9.8.22 EXCLUSIVE OR (XO) Logic processing with the EXCLUSIVE OR command
Syntax:
XO (EXCLUSIVE OR)
Operands:
M, I, O, T, C
Action: At the beginning of a logic sequence, this command functions like an L command, i.e., the logical state of the operand is loaded into the logic accumulator. However, you should always begin a sequence of logical gating operations with a load command (see L, LN, L–). Within a logic sequence, gate the content of the logic accumulator and the logical state of the operand with EXCLUSIVE OR. The iTNC saves the result of the operation in the logic accumulator. Example: Gate the inputs I4 and I5 with EXCLUSIVE OR, and assign the result to output O2. Initial state: Input I4 =1 Input I5 =1 Output O2 =? Function
9 – 90
STL
Accu. content
Operand content
Load the operand content L I4 into the logic accu.
1
1
Gate the content of logic accumulator and input I5 with EXCLUSIVE OR.
XO I5
0
1
Assign the gating result to = O2 output O2.
0
0
HEIDENHAIN Technical Manual iTNC 530
Word processing with the EXCLUSIVE OR command
Syntax:
XO (EXCLUSIVE OR)
Operands:
B, W, D, K
Action: Gate the contents of the word accumulator and the operand with EXCLUSIVE OR. In accordance with the different data widths of the operands (B = 8 bits; W = 16 bits; D = K = 32 bits), 8, 16 or 32 bits, respectively, are influenced in the accumulator. Thus, bit 0 of the accumulator is gated with bit 0 of the operand, bit 1 of the accumulator with bit 1 of the operand, etc. The iTNC saves the result of the operation in the word accumulator. Example: Gate the content of byte S B5 and B6 with EXCLUSIVE OR, and assign the result to word W8. Initial state: Byte B5 = 2A (hex) Byte B6 = 36 (hex) Word W8 =?
September 2006
Function
STL
Accu. content
Operand content
Load byte B6 into the word accumulator.
L B6
36
36
Gate the contents of the XO B5 word accumulator and byte B5 with EXCLUSIVE OR.
1C
2A
Assign the gating result to = W8 word W8.
1C
1C
PLC Commands
9 – 91
9.8.23 EXCLUSIVE OR NOT (XON) Logic processing with the EXCLUSIVE OR NOT command
Syntax:
XON (EXCLUSIVE OR NOT)
Operands:
M, I, O, T, C
Action: At the beginning of a logic sequence, this command functions like an LN command, i.e., the logical state of the operand is loaded into the logic accumulator. However, you should always begin a sequence of logical gating operations with a load command (see L, LN, L–). Within a logic sequence, gate the content of the logic accumulator and the logical state of the operand with EXCLUSIVE OR NOT. The iTNC saves the result of the operation in the logic accumulator. Example: Gate the inputs I4 and marker M500 with EXCLUSIVE OR NOT, and assign the result to output O2. Initial state: Input I4 =0 Marker M500 =0 Output O2 =? Function
STL
Operand content
Load the operand content L M500 0 into the logic accu.
0
Gate the content of logic accumulator and input I4 with EXCLUSIVE OR NOT.
1
0
1
1
XON I4
Assign the gating result to = O2 output O2.
9 – 92
Accu. content
HEIDENHAIN Technical Manual iTNC 530
Word processing with the EXCLUSIVE OR NOT command
Syntax:
XON (EXCLUSIVE OR NOT)
Operands:
B, W, D, K
Action: Gate the contents of the word accumulator and the operand with EXCLUSIVE OR NOT. In accordance with the different data widths of the operands (B = 8 bits; W = 16 bits; D = K = 32 bits), 8, 16 or 32 bits, respectively, are influenced in the accumulator. Thus, bit 0 of the accumulator is gated with bit 0 of the operand, bit 1 of the accumulator with bit 1 of the operand, etc. The iTNC saves the result of the operation in the word accumulator. Example: Gate the content of words W4 and W6 with EXCLUSIVE OR NOT, and assign the result to word W8. Initial state: Word W4 = 36 AA (hex) Word W6 = 3C 36 (hex) Word W8 =?
September 2006
Function
STL
Accu. content
Operand content
Load W6 into the word accumulator.
L W6
3C36
3C36
Gate the contents of word XON accumulator and word W4 W4 with EXCLUSIVE OR NOT.
F563
36AA
Assign the gating result to = W8 word W8.
F563
F563
PLC Commands
9 – 93
9.8.24 ADDITION (+) Syntax:
+ (PLUS)
Operands:
B, W, D, K
Action: The iTNC extends the operand to the width of the accumulator (32 bits) and then adds the content of the operand to the content of the word accumulator. The result of the operation is stored in the word accumulator where you can process it further. Example: Add the constant and the number saved in word W6, then assign the result to double word D8. Initial state: Constant = 10 000 (dec) Word W6 = 200 (dec) Double word D8 =? Function
9 – 94
STL
Accu. content
Operand content
Load the constant into the L word accumulator. K10000
10000
Add the content of the word accumulator and word W6.
+ W6
10200
200
Assign the result to double word D8.
= D8
10200
10200
HEIDENHAIN Technical Manual iTNC 530
9.8.25 SUBTRACTION (–) Syntax:
– (MINUS)
Operands:
B, W, D, K
Action: The iTNC extends the operand to the width of the accumulator (32 bits) and then subtracts the content of the operand from the content of the word accumulator. The result of the operation is stored in the word accumulator where you can process it further. Example: Subtract the number saved in word W6 from the constant, and then assign the result to double word D8. Initial state: Constant = 10 000 (dec) Word W6 = 200 (dec) Double word D8 =? Function
September 2006
STL
Accu. content
Operand content
Load the constant into the L word accumulator. K10000
10000
Subtract word W6 from the content of the word accumulator.
– W6
9800
9800
Assign the result to double word D8.
= D8
9800
9800
PLC Commands
9 – 95
9.8.26 MULTIPLICATION (X) Syntax:
x (MULTIPLY)
Operands:
B, W, D, K
Action: The iTNC extends the operand to the width of the accumulator (32 bits) and then multiplies the content of the operand with the content of the word accumulator. The result of the operation is stored in the word accumulator where you can process it further. If the iTNC cannot execute the multiplication correctly, it then sets marker M4200, otherwise it resets it. Example: Multiply the constant and the number saved in word W6, then assign the result to double word D8. Initial state: Constant = 100 (dec) Word W6 = 20 (dec) Double word D8 =? Function
Accu. content
Operand content
100
Multiply the content of the word accumulator with word W6.
x W6
2000
20
Assign the result to double word D8.
= D8
2000
2000
M4200
9 – 96
STL
Load the constant into the L K100 word accumulator.
Overflow during multiplication
Set
Reset
NC
PLC
HEIDENHAIN Technical Manual iTNC 530
9.8.27 DIVISION (/) Syntax:
/ (DIVIDE)
Operands:
B, W, D, K
Action: The iTNC extends the operand to the width of the accumulator (32 bits) and then divides the content of the word accumulator by the content of the operand. The result of the operation is stored in the word accumulator where you can process it further. If the iTNC cannot execute the division correctly, it then sets marker M4201, otherwise it resets it. Example: Divide the constant by the number saved in word W6, then assign the result to double word D8. Initial state: Constant = 100 (dec) Word W6 = 20 (dec) Double word D8 =? Function
Accu. content
Operand content
100
Divide the content of the word accumulator by word W6.
/ W6
5
20
Assign the result to double word D8.
= D8
5
5
M4201
September 2006
STL
Load the constant into the L K100 word accumulator.
Division by 0
PLC Commands
Set
Reset
NC
PLC
9 – 97
9.8.28 REMAINDER (MOD) Syntax:
MOD (MODULO)
Operands:
B, W, D, K
Action: The iTNC extends the operand to the width of the accumulator (32 bits) and then calculates the remainder resulting from the division of the content of the word accumulator by the content of the operand. The remainder is stored in the word accumulator where you can process it further. If the iTNC cannot execute the MOD command correctly, it sets marker M4202, otherwise it resets it. Example: Divide the number saved in word W6 by the constant, then calculate the REMAINDER and assign the result to double word D8. Initial state: Word W6 = 50 (dec) Constant = 15 (dec) Double word D8 =? Function
STL
Accu. content
Operand content
Load W6 into the word accumulator.
L W6
50
50
Divide the content of the word accumulator by a constant, then save the integral REMAINDER in the word accumulator.
MOD K15
11
15
Assign the REMAINDER to double word D8.
= D8
11
11
M4202
9 – 98
Incorrectly executed modulo
Set
Reset
NC
PLC
HEIDENHAIN Technical Manual iTNC 530
9.8.29 INCREMENT (INC) INCREMENT operand
Syntax:
INC (INCREMENT)
Operands:
B, W, D
Action: Increase the content of the addressed operand by one. INCREMENT word accumulator
Syntax:
INCW (INCREMENT WORD)
Operands:
None
Action: Increase the content of the word accumulator by one. INCREMENT index register
Syntax:
INCX (INCREMENT INDEX)
Operands:
None
Action: Increase the content of the index register by one. 9.8.30 DECREMENT (DEC) DECREMENT operand
Syntax:
DEC (DECREMENT)
Operands:
B, W, D
Action: Decrease the content of the addressed operand by one. DECREMENT word accumulator
Syntax:
DECW (DECREMENT WORD)
Operands:
None
Action: Decrease the content of the word accumulator by one. DECREMENT index register
Syntax:
DECX (DECREMENT INDEX)
Operands:
None
Action: Decrease the content of the index register by one.
September 2006
PLC Commands
9 – 99
9.8.31 EQUAL TO (==) Syntax:
== (EQUAL)
Operands:
B, W, D, K
Action: This command sets off a direct transition from word to logical processing. Gate the content of the word accumulator with the content of the addressed operand. If the word accumulator and the operand are equal, the condition is true and the iTNC sets the logic accumulator to 1. If they are not equal, the logic accumulator is set to 0. The comparison takes place over the number of bits corresponding to the operand: where B = 8 bits, W = 16 bits, and D = K = 32 bits. Example: Compare a constant with the content of double word D8, and assign the result to marker M500. Initial state: Constant = 16 000 (dec) Double word D8 = 15 000 (dec) Marker M300 =? Function
Accu. content
Load the constant into the L word accumulator. K16000
16000
Gate the content of the == D8 word accumulator with the operand content D8; if not equal, set the logic accumulator to 0.
0
Assign the result to marker M500.
9 – 100
STL
= M500 0
Operand content
15000
0
HEIDENHAIN Technical Manual iTNC 530
9.8.32 LESS THAN () Syntax:
> (GREATER THAN)
Operands:
B, W, D, K
Action: This command sets off a direct transition from word to logical processing. Gate the content of the word accumulator with the content of the addressed operand. If the word accumulator is greater than the operand, the condition is true and the iTNC sets the logic accumulator to 1. If the word accumulator is less than or equal to the operand, it sets the logic accumulator to 0. The comparison takes place over the number of bits in the operand: where B = 8 bits, W = 16 bits, and D = K = 32 bits. Example: Compare a constant with the content of double word D8, and assign the result to marker M500. Initial state: Constant = 16 000 (dec) Double word D8 = 15 000 (dec) Marker M500 =? Function
Accu. content
Load the constant into the L word accumulator. K16000
16000
Check whether word > D8 accumulator > operand; if so, set logic accu to 1.
1
Assign the result to marker M500.
9 – 102
STL
= M500 1
Operand content
15000
1
HEIDENHAIN Technical Manual iTNC 530
9.8.34 LESS THAN OR EQUAL TO (= operand; if so, set logic accu to 1.
1
Assign the result to marker M500.
9 – 104
STL
= M500 1
Operand content
15000
1
HEIDENHAIN Technical Manual iTNC 530
9.8.36 NOT EQUAL () Syntax:
(NOT EQUAL)
Operands:
B, W, D, K
Action: This command sets off a direct transition from word to logical processing. Gate the content of the word accumulator with the content of the addressed operand. If the word accumulator and the operand are not equal, the condition is true and the iTNC sets the logic accumulator to 1. If they are equal, the logic accumulator is set to 0. The comparison takes place over the number of bits corresponding to the operand: where B = 8 bits, W = 16 bits, and D = K = 32 bits. Example: Compare a constant with the content of double word D8, and assign the result to marker M500. Initial state: Constant = 16 000 (dec) Double word D8 = 15 000 (dec) Marker M500 =? Function
September 2006
STL
Accu. content
Load the constant into the L word accumulator. K16000
16000
Check whether word accumulator operand; if so, set logic accu to 1.
D8
1
Assign the result to marker M500.
= M500 1
PLC Commands
Operand content
15000
1
9 – 105
9.8.37 AND [ ] (A[ ]) Syntax:
A[ ] (AND [ ])
Operands:
None
Action: By using parentheses you can change the sequence of processing logic commands in a statement list. The opening-parenthesis command puts the content of the accumulator onto the program stack. If you address the logic accumulator in the last command before an opening-parenthesis statement, the iTNC puts the content of the logic accumulator onto the program stack. If you address the word accumulator, the iTNC saves the content of the word accumulator. With the closing-parenthesis command, the iTNC gates the buffered value from the program stack with the content of the logic accumulator or word accumulator, depending on which you have addressed before the opening-parenthesis statement. The iTNC assigns the result of the gating operation to the corresponding accumulator. Maximum nesting depth: 16 parentheses. Please note: The sequence of function is the same for word processing, however the iTNC writes the complete word accumulator onto the program stack. Example: Example for the commands AND [ ], AND NOT [ ], OR [ ], OR NOT [ ], EXCLUSIVE OR [ ], EXCLUSIVE OR NOT [ ]: Use parentheses to develop a statement list in accordance with the following logic circuit diagram: M500 M501
OR AND
I0 I1
9 – 106
O12
OR
HEIDENHAIN Technical Manual iTNC 530
Initial state: Marker Input Marker Input Output
M500 I0 M501 I1 O12
=0 =0 =1 =1 =?
Function
STL
Accu. content
Operand content
Load marker M500 into the logic accumulator.
L M500 0
0
Gate logic accumulator with marker M501.
O M501 1
1
Opening parenthesis: Buffer the accu content onto the program stack.
A[
Load the state of input I0 into L I0 the logic accu.
0
0
Gate the logic accu with the state of input I1.
1
1
1
1
O I1
Closing parenthesis: Gate the ] accumulator content with the program stack (A[, O[...). Assign the result of the total operation to output O12.
= O12
9.8.38 AND NOT [ ] (AN[ ]) Syntax:
AN[ ] (AND NOT [ ])
Operands:
None
Action: See example A[ ] (AND [ ]) 9.8.39 OR [ ] (O[ ]) Syntax:
O[ ] (OR [ ])
Operands:
None
Action: See example A[ ] (AND [ ]) 9.8.40 OR NOT [ ] (ON[ ]) Syntax:
ON[ ] (OR NOT [ ])
Operands:
None
Action: See example A[ ] (AND [ ])
September 2006
PLC Commands
9 – 107
9.8.41 EXCLUSIVE OR [ ] (XO[ ]) Syntax:
XO[ ] (EXCL: OR [ ])
Operands:
None
Action: See example A[ ] (AND [ ]) 9.8.42 EXCLUSIVE OR NOT [ ] (XON[ ]) Syntax:
XON[ ] (EXCL: OR NOT [ ])
Operands:
None
Action: See example A[ ] (AND [ ]) 9.8.43 ADDITION [ ] (+[ ]) Syntax:
+[ ] (PLUS[ ])
Operands:
None
Action: Use parentheses together with arithmetical commands only for word processing. By using parentheses you can change the sequence of processing in a statement list. The opening-parenthesis command puts the content of the word accumulator onto the program stack. This clears the accumulator for calculation of intermediate results. The closing-parenthesis command gates the buffered value from the program stack with the content of the word accumulator. The iTNC saves the result in the accumulator again. Maximum nesting depth: 16 parentheses. If an error occurs during calculation, the iTNC sets the marker M4201.
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Example: Example for the commands ADD [ ], SUBTRACT [ ], MULTIPLY [ ], DIVIDE [ ], REMAINDER [ ]. Divide a constant by double word D36, add the result to double word D12, and assign the result to double word D100. Initial state: Constant = 1000 (dec) Double wordD12 = 15000 (dec) Double wordD36 = 100 (dec) Double wordD100 = ? Function
STL
Accu. content
Operand content
Load the double word D12 into the word accu.
L D12
15000
15000
Opening parenthesis: Buffer the accu content onto the program stack.
+[
Load the constant K1000 into L K1000 1000 the word accu. Divide the word accu by the content of the double word D36.
/ D36
10
100
15010
15010
Closing parenthesis: Gate the ] accumulator content with the program stack (+[, –[ .....). Assign the result of the total operation to double word D100.
M4200 M4201 M4202 M4203
September 2006
= D100
Overflow during multiplication Division by 0 Incorrectly executed modulo Error status for PLC module
PLC Commands
Set
Reset
NC NC NC NC
PLC PLC PLC NC/PLC
9 – 109
9.8.44 SUBTRACTION [ ] (–[ ]) Syntax:
–[ ] (MINUS –[ ])
Operands:
None
Action: See example for ADDITION [ ] 9.8.45 MULTIPLICATION [ ] (X[ ]) Syntax:
x[ ] (MULTIPLY [ ])
Operands:
None
Action: See example for ADDITION [ ] 9.8.46 DIVISION [ ] (/[ ]) Syntax:
/[ ] (DIVIDE [ ])
Operands:
None
Action: See example for ADDITION [ ] 9.8.47 REMAINDER [ ] (MOD[ ]) Syntax:
MOD[ ] (MODULO [ ])
Operands:
None
Action: See example for ADDITION [ ] 9.8.48 EQUAL TO [ ] (==[ ]) Syntax:
==[ ] (EQUAL[ ])
Operands:
None
Action: By using parentheses you can change the sequence of processing comparative commands in a statement list. The opening-parenthesis command puts the content of the word accumulator onto the program stack. This clears the accumulator for calculation of intermediate results. The closing-parenthesis command gates the buffered value from the program stack with the content of the word accumulator. The iTNC saves the result in the accumulator again. Maximum nesting depth: 16 parentheses. Comparative commands cause a direct transition from word to logical processing. If the specified comparative condition is true, the iTNC sets the logic accumulator to 1; if the condition is not fulfilled, it sets it to 0.
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Example: Multiply a constant with double word D36, compare the result with double word D12, and assign the result to output O15. Initial state: Constant = 1000 (dec) Double word D12 = 15000 (dec) Double word D36 = 10 (dec) Output O15 =? Function
STL
Accu. content
Operand content
Load the double word D12 into the word accu.
L D12
15000
15000
Opening parenthesis: Buffer the accu content onto the program stack.
== [
Load the constant into the L K1000 1000 word accumulator. Multiply the content of the word accumulator with double word W36.
x D36
10000
10
0
0
Closing parenthesis: Gate ] the accumulator content with the program stack (==[, >=[ ...); if condition not fulfilled, set logic accumulator to 0. Assign the result to output O15.
September 2006
= O15
PLC Commands
9 – 111
9.8.49 LESS THAN [ ] ([ ] (GREATER THAN [ ])
Operands:
None
Action: See example for EQUAL TO [ ] 9.8.51 LESS THAN OR EQUAL TO [ ] (=[ ] (GREATER EQUAL [ ])
Operands:
None
Action: See example for EQUAL TO [ ] 9.8.53 NOT EQUAL [ ] ([ ]) Syntax:
[ ] (NOT EQUAL [ ])
Operands:
None
Action: See example for EQUAL TO [ ]
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9.8.54 SHIFT LEFT (> K+1 7D0 >> K+1 3E8 3E8
3E8
Instead of using the >> K+1 command four times, simply use the >> K+4 command.
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9.8.56 BIT SET (BS) Syntax:
BS (BIT SET)
Operands:
B, W, D, K, X
Action: With the BIT SET command you can set each bit in the accumulator to 1. The corresponding bits are selected (addressed) by the content of the specified operand or by a constant. As to the bit numbering, bit 0 = LSB and bit 31 = MSB. For operand contents greater than 32, the iTNC uses the operand value modulo 32, i.e. the integral remainder of the result of the operand value divided by 32. Example: Load double word D8 into the accumulator, set bit 0 of the accumulator to 1, and save the result in double word D12. Initial state: Double word D8 = 3E 80 (hex) Double word D12 =? Function
September 2006
Accu. content
Operand content
Load the double word D8 L D8 into the word accu.
STL
3E80
3E80
Set the bit specified in the BS K+0 operand to 1.
3E81
Assign the result to double word D12.
3E81
= D12
PLC Commands
3E81
9 – 115
9.8.57 BIT RESET (BC) Syntax:
BC (BIT CLEAR)
Operands:
B, W, D, K, X
Action: With the BIT RESET command you can set each bit in the accumulator to 0. The corresponding bits are selected (addressed) by the content of the specified operand or by a constant. As to the bit numbering, bit 0 = LSB and bit 31 = MSB. For operand contents greater than 32, the iTNC uses the operand value modulo 32, i.e. the integral remainder of the result of the operand value divided by 32. Example: Load double word D8 into the accumulator, set bit 0 of the accumulator to 0, and save the result in double word D12. Initial state: Double word D8 = 3E 81 (hex) Double word D12 =? Function
STL
Load the double word D8 L D8 into the word accu.
Accu. content
Operand content
3E81
3E81
Set the bit specified in the BC K+0 3E80 operand to 0. Assign the result to double word D12.
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= D12
3E80
3E80
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9.8.58 BIT TEST (BT) Syntax:
BT (BIT TEST)
Operands:
B, W, D, K, X
Action: With the BIT TEST you can interrogate the status of each bit in the accumulator. With the BT command there is a direct transition from word to logic processing, i.e. the iTNC checks the state of a bit in the word accumulator and then sets the logic accumulator. If the interrogated bit = 1, the iTNC sets the logic accumulator to 1; otherwise it sets it to 0. The corresponding bits are selected (addressed) by the content of the specified operand or by a constant. As to the bit numbering, bit 0 = LSB and bit 31 = MSB. For operand contents greater than 32, the iTNC uses the operand value modulo 32, i.e. the integral remainder of the result of the operand value divided by 32. Example: Load the double word D8 into the accumulator and assign the logical state of bit 0 to output O12. Initial state: Double word D8 = 3E 81 (hex) Output O12 =? Function
September 2006
Accu. content
Operand content
Load the double word D8 L D8 into the word accu.
STL
3E81
3E81
Check the state of the bit BT K+0 specified in the operand.
1
Assign the result to output O12.
1
= O12
PLC Commands
1
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9.8.59 PUSH DATA ONTO THE DATA STACK (PS) Logic processing with the PS command
Syntax:
PS (PUSH)
Operands:
M, I, O, T, C
Action: The PS command enables you to buffer data. The iTNC loads the addressed operand onto the data stack. Because the data stack has a width of 32 bits, you must write to it with a minimum width of one word. The iTNC copies the operand value into bit 7 of the data stack’s current address. The vacant bits of the occupied memory remain undefined or unused. In the event of a stack overflow, the iTNC outputs an error message. Memory assignment in the data stack [bit] 31 ... x
14 13 12 11 10 9
...
x
x
x
x
x
8
7
6
5
4
3
2
1
0
x
L
x
x
x
x
x
x
x
Example: See PSW command. Word processing with the PS command
Syntax:
PS (PUSH)
Operands:
B, W, D, K
Action: The PS command enables you to buffer data. The iTNC copies the addressed operand value into the current address of the data stack. During word processing, the iTNC copies two words per PS command onto the data stack and extends the operand—in accordance with the MSB—with the correct algebraic sign. In the event of a stack overflow, the iTNC displays an error message. Data stack for byte, word, double word and constant [bit] 31 ....................... 24
23 ....................... 16
15 ............................ 8
7 .............................. 0
x x x x x x x x
x x x x x x x x
x x x x x x x x
B B B B B B B B
x x x x x x x x
x x x x x x x x
WWWWWWWW
WWWWWWWW
D D D D D D D D
D D D D D D D D
D D D D D D D D
D D D D D D D D
K K K K K K K K
K K K K K K K K
K K K K K K K K
K K K K K K K K
Example: See PSW command.
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9.8.60 PULL DATA FROM THE DATA STACK (PL) Logic processing with the PL command
Syntax:
PL (PULL)
Operands:
M, I, O, T, C
Action: The PL command is the counterpart to the PS command. Data that has been buffered with the PUSH command can be taken from the data stack by using the PULL command. The iTNC copies bit 7 of the data stack’s current address into the addressed operand. If the stack is empty, the iTNC displays an error message. Example: See PSW command. Word processing with the PL command
Syntax:
PL (PULL)
Operands:
B, W, D, K
Action: The PL command is the counterpart to the PS command. Data that has been buffered with the PUSH command can be taken from the data stack by using the PULL command. During word processing, the iTNC copies with the PL command two words of the current data stack address into the addressed memory area. If the stack is empty, the iTNC displays an error message. Example: See PSW command.
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9.8.61 PUSH LOGIC ACCUMULATOR ONTO THE DATA STACK (PSL) Syntax:
PSL (PUSH LOGICACCU)
Operands:
None
Action: The PSL command enables you to buffer the logic accumulator. With the PSL command, the iTNC copies the logic accumulator onto the data stack. Because the data stack has a width of 32 bits, you must write to it with a minimum width of one word. The iTNC copies the operand value into bit 7 of the data stack’s current address. The vacant bits of the occupied memory remain undefined or unused. In the event of a stack overflow, the iTNC outputs an error message. Memory assignment in the data stack [bit] 31 ... x
14 13 12 11 10 9
...
x
x
x
x
x
8
7
6
5
4
3
2
1
0
x
L
x
x
x
x
x
x
x
Example: See PSW command. 9.8.62 PUSH WORD ACCUMULATOR ONTO THE DATA STACK (PSW) Syntax:
PSW (PUSH WORDACCU)
Operands:
None
Action: The PSW command enables you to buffer the word accumulator. With the PSW command, the iTNC copies the word accumulator onto the data stack. The content of the word accumulator (32 bits) occupies two words on the data stack. In the event of a stack overflow, the iTNC displays an error message. Example: Since the sequence is the same for all stack operations, this example also applies to the commands PS, PL, PSW, PLL, PLW. The difference between the individual operations lies merely in the transferred data width. Call Module 15 at a certain place in the program. After returning to the main program, restore the original accumulator content. Accumulator contents prior to the module call: 1A 44 3E 18
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Function
STL
Accu. content
Data stack
Buffer the word accu in the data stack.
PSW
1A443E18
1A443E18
Call subroutine 15.
CM 15
Restore data stack into word accumulator.
PLW
1A443E18
1A443E18
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9.8.63 PULL LOGIC ACCUMULATOR FROM THE DATA STACK (PLL) Syntax:
PLL (PULL LOGICACCU)
Operands:
None
Action: The PLL command is the counterpart to the PSL command. Data that has been buffered with the PUSH command can be restored from the data stack by using the PULL command. The iTNC copies bit 7 of the data stack’s current address into the logic accumulator. If the stack is empty, the iTNC displays an error message. Example: See PSW command. 9.8.64 PULL WORD ACCUMULATOR FROM THE DATA STACK (PLW) Syntax:
PLW (PULL WORDACCU)
Operands:
None
Action: The PLW command is the counterpart to the PSW command. Data that has been buffered with the PUSH command can be restored from the data stack by using the PULL command. During word processing, the iTNC copies with the PLW command two words of the current data stack address into the word accumulator. If the stack is empty, the iTNC displays an error message. Example: See PSW command. 9.8.65 UNCONDITIONAL JUMP (JP) Syntax:
JP (JUMP)
Operands:
Label (LBL)
Action: After a JP command, the iTNC jumps to the label that you have entered and resumes the program from there. JP interrupts a logic sequence. Example: See JPT command.
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9.8.66 JUMP IF LOGIC ACCUMULATOR = 1 (JPF) Syntax:
JPT (JUMP IF TRUE)
Operands:
Label (LBL)
Action: The JPT command is a conditional jump instruction. If the logic accumulator = 1, the iTNC resumes the program at the label that you have entered. If the logic accumulator = 0, the iTNC does not jump. JPT interrupts a logic sequence. Example: This example also applies to the commands JP and JPF. Depending on the state of the input I5, skip a certain program section. Initial state: Input I5 =1 Function
Accu. content
Operand content
Load the operand content L I5 into the logic accu.
STL
1
1
If logic accumulator =1, jump to LBL 10.
1
JPT 10
Skip the function.
L I3
Skip the function.
O M500
Skip the function.
= 020
Label
LBL 10
Resume the program run. L M100 0 ........
0
9.8.67 JUMP IF LOGIC ACCUMULATOR = 0 (JPF) Syntax:
JPT (JUMP IF FALSE)
Operands:
Label (LBL)
Action: The JPF command is a conditional jump instruction. If the logic accumulator = 0, the iTNC resumes the program at the label that you have entered. If the logic accumulator = 1, the iTNC does not jump. JPF interrupts a logic sequence. Example: See JPT command.
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9.8.68 CALL MODULE (CM) Syntax:
CM (CALL MODULE)
Operands:
Label (LBL)
Action: After a CM command, the iTNC calls the module that begins at the label that you have entered. Modules are independent subroutines that must be ended with the command EM. You can call modules as often as you wish from different places in your program. CM interrupts a logic sequence. Example: See command CMF. 9.8.69 CALL MODULE IF LOGIC ACCUMULATOR = 1 (CMT) Syntax:
CMT (CALL MODULE IF TRUE)
Operands:
Label (LBL)
Action: The CMT command is a conditional module call. If the logic accumulator = 1, the iTNC calls the module that begins at the label that you have entered. If the logic accumulator = 0, the iTNC does not call the module. CMT interrupts a logic sequence. Example: See command CMF.
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9.8.70 CALL MODULE IF LOGIC ACCUMULATOR = 0 (CMF) Syntax:
CMF (CALL MODULE IF FALSE)
Operands:
Label (LBL)
Action: The CMF command is a conditional module call. If the logic accumulator = 0, the iTNC calls the module that begins at the label that you have entered. If the logic accumulator = 1, the iTNC does not call the module. CMF interrupts a logic sequence. Example: This example also applies to the commands CM and CMT. Depending on the state of the input I5, call the Module 10. Initial state: Input I5 =0 Function
STL
Load the operand content L I5 into the logic accu.
Accu. content
Operand content
0
0
If logic accumulator =0, jump to LBL 10.
CMF 10 0
Resume main program after module execution.
L M100 1
1
End of the main program. EM Label: Beginning of module.
LBL 10
Statement in the module. L I3
0
0
Statement in the module. O M500 1
1
Statement in the module. = O20
1
End of module, resume the main program with the command L M100.
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1
EM
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9.8.71 END OF MODULE, END OF PROGRAM (EM) Syntax:
EM (END OF MODULE)
Operands:
None
Action: You must end each program or subroutine (module) with the command EM. An EM command at the end or within a module causes a return jump to the module call (CM, CMT, CMF). The iTNC then resumes the program with the instruction that follows the module call. The iTNC interprets the command EM as program end. The iTNC can reach the subsequent program instructions only through a jump instruction. 9.8.72 END OF MODULE IF LOGIC ACCUMULATOR = 1 (EMT) Syntax:
EMT (END OF MODULE IF TRUE)
Operands:
None
Action: An EMT command causes a return jump to the module call (CM, CMT, CMF) only if the logic accumulator = 1. 9.8.73 END OF MODULE IF LOGIC ACCUMULATOR = 0 (EMF) Syntax:
EMF (END OF MODULE IF FALSE)
Operands:
None
Action: An EMF command causes a return jump to the module call (CM, CMT, CMF) only if the logic accumulator = 0. 9.8.74 LABEL (LBL) Syntax:
LBL (LABEL)
Operands:
ASCII name; maximum length: 32 characters
Action: The label defines a program location as an entry point for the JP and CM commands. You can define up to 1000 jump labels per file. The ASCII name of the label may be up to 32 characters long. However, the iTNC evaluates only the first 16 characters. For importing global labels, see EXTERN instruction.
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9.9 INDEX Register (X Register) You can use the index register for: Data transfer Buffering results Indexed addressing of operands The index register is 32 bits wide. You can use the X register anywhere in the program. The iTNC does not check whether the current content is valid. Exception: During indexed write accessing the iTNC checks whether the amount of available address space is exceeded. Example: = B100[X] If the permitted addressable storage is exceeded, the iTNC issues a blinking error message: PLC: index range incorrect. Acknowledge the error message by pressing the END key. After restarting the iTNC you must not acknowledge the POWER INTERRUPTED message. Go into the PLC editor, where you will be shown the error line. Note At the beginning of the PLC cycle the iTNC sets the index register to 0. Assign the index register a defined value before using it in your program. The following addresses are valid: Mn[X] In[X] On[X] Cn[X] Tn[X] Bn[X] Wn[X] Dn[X] BTX BCX BSX Sn[X] S#Dn[X] S#En[X] S#An[X] Sn^X
Operand number = n+X Operand number = n+X Operand number = n+2*X Operand number = n+4*X Content of index register = operand Content of index register = operand Content of index register = operand String number = n+X Dialog text number = n+X Error text number = n+X ASCII code +X Substring from X-th character of the n-th string
The types “S”, K, and K$ cannot be indexed. Note If you address S#Dn[X] or S#En[X], the iTNC loads the sequence Dnnn or Ennn in the string accumulator, where nnn is the modified string number.
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Commands for operating the index register
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The following commands are available for exchanging data between the word accumulator and index register, or between the stack and index register: LX =X PSX PLX INCX DECX
(Load index to accu) (Store accu to index) (Push index register) (Pull index register) (Increment index register) (Decrement index register)
INDEX Register (X Register)
Index register – word accumulator Word accumulator – index register Index register – stack Stack – index register
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9.10 Commands for String Processing String processing enables you use the PLC program to generate and manipulate any texts. With Module 9082 you can display these texts in the PLC window of the screen and delete them again with Module 9080. The iTNC features one string accumulator and 100 string memories (S0 to S99), in each of which you can save up to 128 characters: String accumulator (characters) 1
128
x x x x x x x x x x x x x x ................ x x x x x x x x x x x x x x String memory (characters) 1
128
S0
x x x x x x x x x x x x x x .............. x x x x x x x x x x x x x x
...
x x x x x x x x x x x x x x .............. x x x x x x x x x x x x x x
Example String accumulator (characters) 1
128
C OOL A N T
ON
String accumulator and string memory are volatile, which means that they are erased by the iTNC when power is switched off. The operand “S” is available for string processing. You can use the operand “S” with different arguments.
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Operand declaration
The “S” operands are to be used only with string processing. You can target the following addresses with the various arguments: Addressing string memory: After the operand designation, specify the number of the desired memory (S0 to S99). Address part of a string: Use the address Sn^X (see INDEX Register). The iTNC addresses the substring beginning with the X-th character of the specified string. Immediate String: You can also enter a string directly in the PLC program. The text string, which may contain a maximum of 128 characters, must be indicated by quotation marks. Example: “Coolant 1 on” Texts from the PLC error message file or from the PLC dialog file: By specifying the line number you can read texts from the active error message file or dialog file: PLC-ERROR: S#Exx xx: Line number from the PLC error message file (0 to 999) PLC-DIALOG: S#Dxx xx: Line number from the PLC dialog file (0 to 999). Enter the string #Exx or #Dxx in the argument of the string command. The iTNC then saves a 5-byte-long string E0xx or D0xx ( = ASCII ) in the accumulator. Instead of this string, the iTNC reads the line xx of the active error message or dialog file on the screen. Enter an ASCII character in the string. Define the ASCII character through its code: S#Axxx
Logical comparisons during string processing
Use the following procedure to compare two strings, depending on the argument: Compare the string memory or immediate string, then the iTNC checks both strings character by character. After the first character that does not fulfill the condition of comparison, the control resets the logic accumulator. Then the iTNC no longer checks the remaining characters. During a comparison, the iTNC always uses the significance of the characters from the ASCII table. This results, for example, in: A A If you have entered PLC error messages or PLC dialog texts in the argument, the iTNC compares the position in the error-message file or dialog file (0 to 999), but not the actual text as in an immediate string. The processing times depend on the length of the strings.
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Commands for String Processing
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9.10.1 LOAD STRING (L) Syntax:
L (LOAD)
Operands:
S
Action: Load the string accumulator. The string that the iTNC is to load is selected through the argument after the operand designation. See also “Operand declaration.” Example: See command OVWR. 9.10.2 ADD STRING (+) Syntax:
+ (PLUS)
Operands:
S
Action: Attach another string to a string in the string accumulator. The string that the iTNC is to load is selected through the argument after the operand designation. See also “Operand declaration.” The resulting string must not be longer than 128 characters. Example: See command OVWR. 9.10.3 SAVING A STRING (=) Syntax:
= (STORE)
Operands:
S
Action: Assign the content of the string accumulator to the string memory. The memory into which the iTNC is to copy the string is selected through the argument after the operand designation. Permissible arguments: 0 to 99 (String memory S0 to S99). See also “Operand declaration.” Example: See command OVWR.
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9.10.4 OVERWRITING A STRING (OVWR) Syntax:
OVWR (OVERWRITE)
Operands:
S
Action: Save the string from the string accumulator in a string memory. This command differs from the = command in that the iTNC does not transfer the “string end” character along with it. In this way you can overwrite the beginning of a string that is already in the string memory. The memory into which the iTNC is to copy the string is selected through the argument after the operand designation. Permissible arguments: 0 to 99 (string memory S0 to S99). See also “Operand declaration.” Example: This example also applies to the string commands L, + and =. Add a string from the string memory S0 to an immediate string. The result is to overwrite the contents of string memory S1. Initial state: Immediate String = HYDRAUL. String memory S0 = OIL String memory S1 = COOLANT MISSING String memory (characters) 1
128
S0
O I L
S1
C OOL A N T
...
...
Function
STL
Load the string into the string accu.
L S “HYDRAUL.”
MI S S I N G
String accumulator (characters) 1
128
H Y DRAUL .
Add content of string + S0 memory S0 to string accumulator.
H Y DRAUL .
OI L
Overwrite content of OVWR S1 string memory S1 with content of string accumulator.
H Y DRAUL .
OI L
Final state: String memory (characters) 1
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128
S0
O I
S1
H Y D R A U L .
L
...
...
O I
L
Commands for String Processing
M I
S S I
N G
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9.10.5 EQUAL TO COMMAND FOR STRING PROCESSING (==) Syntax:
== (EQUAL)
Operands:
S
Action: This command sets off a direct transition from string to logical processing. Compare the content of the string accumulator with the string in the argument. If the string accumulator and the operand are equal, the condition is true and the iTNC sets the logic accumulator to 1. If they are not equal, the iTNC sets the logic accumulator is set to 0. Example: See command . 9.10.6 LESS THAN COMMAND FOR STRING PROCESSING () Syntax:
> (GREATER THAN)
Operands:
S
Action: This command sets off a direct transition from string to logical processing. Compare the content of the string accumulator with the string in the argument. If the string accumulator is greater than the operand, the condition is true and the iTNC sets the logic accumulator to 1. If the string accumulator is less than or equal to the operand, it sets the logic accumulator to 0. Example: See command .
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9.10.8 LESS THAN OR EQUAL TO COMMAND FOR STRING PROCESSING (= (GREATER EQUAL)
Operands:
S
Action: This command sets off a direct transition from string to logical processing. Compare the content of the string accumulator with the string in the argument. If the string accumulator is greater than or equal to the operand, the condition is true and the iTNC sets the logic accumulator to 1. If the string accumulator is less than the operand, it sets the logic accumulator to 0. Example: See command .
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Commands for String Processing
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9.10.10 NOT EQUAL COMMAND FOR STRING PROCESSING () Syntax:
(NOT EQUAL)
Operands:
S
Action: This command sets off a direct transition from string to logical processing. Compare the content of the string accumulator with the string in the argument. If the string accumulator is not equal to the operand, the condition is true and the iTNC sets the logic accumulator to 1. If the string accumulator is equal to the operand, it sets the logic accumulator to 0. Example: This example of string processing also applies to the commands =, , =, . Compare the immediate string with the content of the string memory S0. Depending on the result, call Module 50. Initial state: String memory S0 = SPINDLE 2 Immediate string = SPINDLE 1 String memory (characters) 1 S0
S
...
...
128 P
I
N D L
E
2
Function
STL
String accu. (characters), or logic accu.
Load the string into the string accu.
L S “SPINDLE 1”
S P I N D L E
1
Gate the content of string memory S0 with content of string accumulator (=, , >=, ...)
S0
S P I N D L E
2
1
CMT 50 If the condition is fulfilled, set logic accumulator to 1 and call the module.
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Logic accumulator = 1
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9.10.11 Modules for String Processing Module 9070 Copy a number from a string The iTNC searches a selectable string memory, (S0 to S99), for a numerical value. When the numerical value is first found, the iTNC copies it as a string into another selectable string memory. The iTNC does not check whether a conflict arises between the source and target string. It may overwrite the source string (even then, however, the function of the module is ensured). The iTNC recognizes unsigned and signed numbers, with and without decimal places. Both a period or comma are permitted as decimal point. The iTNC returns the position (in characters) of the first character after the found number in the string memory to be searched. Call: PS PS CM PL
K/B/W/D K/B/W/D 9070 B/W/D
Error recognition: Marker
Value
Meaning
M4203
0
Number was copied
1
Error. See W1022.
2
Incorrect address of the source or target string
11
No number, no string end, or number string has a length of more than 79 characters
W1022
Example
L S”X POS.:123” = S0 PS K+0 PS K+1 CM 9070 PL W520
String memory (characters) 1 S0
X -
... P O S .
S1
1 2 3
...
...
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Data stack [bits] 10
:
...
128
1 2 3 10
Commands for String Processing
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Module 9071 Find the string length The iTNC ascertains the length of the string in a selectable string memory (S0 to S99). Call: PS CM PL
K/B/W/D/S 9071 B/W/D
Error recognition: Marker
Value
Meaning
M4203
0
String length was ascertained
1
Error. See W1022.
2
Invalid immediate strings, address of the source or target string is out of range (S0 to S99), string memory was searched but no string end was found
W1022
Module 9072 Copy a byte block into a string Module 9072 copies a byte block into a string. The module does not check whether the byte block consists of valid ASCII characters. The content of the string may not be correctly displayed (e.g. due to special characters for stringend codes). A string end code is automatically set after the last copied byte. The module always copies the programmed byte block, regardless of any string-end code in the byte block. Call: PS PS PS CM
B/W/D/K B/W/D/K B/W/D/K 9072
Error recognition: Marker
Value
Meaning
M4203
0
Byte block was copied into string
1
Error code in W1022
1
Invalid length of the programmed byte block (max. 127 characters)
3
Invalid address of the start byte
W1022
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4
Invalid sum of start byte and length of the byte block
11
Invalid string
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Module 9073 Copy a string to a byte block Module 9073 copies a string into a byte block. The module does not check whether the string consists of valid ASCII characters. The module always copies over the entire programmed length of the byte block, regardless of any string-end code in the byte block. Call: PS PS PS CM
B/W/D/K B/W/D/K B/W/D/K 9073
Error recognition:
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Marker
Value
Meaning
M4203
0
String was copied into byte block
1
Error code in W1022
W1022
1
Invalid target byte
2
Invalid length of the programmed byte block (max. 127 characters)
4
Invalid sum of target byte and length of the byte block
11
Invalid string
Commands for String Processing
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9.11 Submit Programs Submit programs are subroutines that the PLC submits to the NC for processing. This allows you to solve problems that are very processorintensive, require program loops, or must wait for external results. It is a prerequisite that these programs are not restricted to a definite time frame. Depending on the processor utilization, the iTNC provides a certain computing power for a submit program. You start submit programs from the PLC program. They can access all data memory areas (M/B/W/D) as the main program can. To prevent problems, ensure that data processed by the PLC program is clearly separated from data processed by the submit program. You can place up to eight submit programs in a queue. Each submit program receives an “identifier” (a number between 1 and 255, assigned by the NC), which the iTNC enters in the word accumulator. With this identifier and the REPLY function you can then interrogate whether the program is in the queue, is being processed, or has already been processed. The iTNC processes the submit programs in the sequence in which they were entered in the queue. If errors occur during execution of the submit program, the NC sets the following markers:
M4200 M4201 M4202 M4203 M4204
Overflow during multiplication Division by 0 Incorrectly executed modulo Error status for PLC module Reserved for errors that the PLC programmer would like to catch
Set
Reset
NC NC NC NC NC
PLC PLC PLC NC/PLC NC
The iTNC lists these markers separately in the submit job. This means that you can edit the same markers as those in the PLC sequential program without interfering in its execution. No exact times can be stated for the commands for managing the submit queue.
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9.11.1 CALLING THE SUBMIT PROGRAM (SUBM) Syntax:
SUBM (SUBMIT)
Operands:
Label (LBL)
Action: Assign an identifier (1 to 255) to a labeled subroutine and put it in the queue. At the same time, the iTNC writes the assigned number in the word accumulator. If programs are already entered in the submit queue, the iTNC does not run the addressed program until the programs before it are finished. A submission to the queue may only take place from a PLC program. A SUBM command in a submit program is not possible. If there is no room in the queue, or if you program the SUBM command in a submit program (nesting), the iTNC assigns the value “0” to the word accumulator. Example: See command CAN. 9.11.2 INTERROGATING THE STATUS OF A SUBMIT PROGRAM (RPLY) Syntax:
RPLY (REPLY)
Operands:
B/W
Action: Interrogate the status of the submit program with the specified identifier. You must have already stored the identifier in a byte or word when you call the submit program. With the RPLY command and the defined memory address (byte or word containing the identifier) the iTNC transfers one of the following processing states to the word accumulator: Word accumulator = 0: Program complete/not in the queue Word accumulator = 1: Program running Word accumulator = 2: Program in the queue Example: See command CAN.
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Submit Programs
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9.11.3 CANCELING A SUBMIT PROGRAM (CAN) Syntax:
CAN (CANCEL)
Operands:
B/W
Action: Cancel a submit program with the specified identifier during processing, or remove it from the queue. You must have already stored the identifier in a byte or word when you call the submit program. After you have canceled the program, the iTNC immediately starts the next submit program from the queue. The following PLC modules cannot be canceled at just any location with CANCEL: PLC module for access to screen (908X) PLC module for reading NC files (909X) For these modules, you must check with the RPLY command whether the CAN command may be executed.
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Example: This example also applies to the commands SUBM and RPLY. Depending on input I10, submit the subroutine with the label LBL 300 to the NC for processing. In addition, check the execution of the subroutine in the main program with the RPLY command, and cancel it with the CAN command, depending on input I11. Function
STL
Load the state of input I10 into the logic accu.
L I10
If logic accumulator =0, jump to LBL 100.
JPF 100
Interrogate the status of the submit program and load it into the word accumulator.
RPLY B128
If the word accumulator is not equal to 0, i.e., the K+0 submit program has already been transferred to the NC for processing, set the logic accumulator to 1. If logic accumulator =1, jump to LBL 100.
JPT 100
Call submit Program 300.
SUBM 300
Save the identifier of the submit program in byte 128.
= B128
Label
LBL 100
Load the state of input I11 into the logic accu.
L I11
If logic accumulator =0, jump to LBL 110 (skip the program cancellation).
JPF 110
Cancel the submit program.
CAN B128
Label
LBL 110
End of the main program.
EM
Label: Beginning of the submit program.
LBL 300
End of the submit program.
EM
Always insert submit programs, like any module, at the end of the main program. In this case, the content of the submit program could be a display in the PLC window that is realizable through permanently assigned PLC modules.
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Submit Programs
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9.12 Cooperative Multitasking You can run several processes in the PLC with cooperative multitasking. Unlike genuine multitasking, with cooperative multitasking information and tasks are exchanged only at places that you define. Cooperative multitasking permits up to eight parallel PLC processes and the submit queue. In a program that you have started with SUBM, you can use commands for changing tasks and controlling events (Module 926x). You should additionally insert a task change between the individual jobs in the submit queue, so that the iTNC can execute parallel processes by the end of a job at the latest. The cyclic PLC main program does not participate in cooperative multitasking, but interrupts a submit job and the parallel processes at whatever their current stage is. 9.12.1 STARTING A PARALLEL PROCESS (SPAWN) Syntax:
SPAWN
Operands:
D
Action: In the specified double word, the iTNC returns the identifier (see page 9 – 138). If no process could be started, the iTNC returns the value –1. You can call the spawn command only in a submit job or in another spawn process (maximum of eight parallel processes are permitted). If a process ends with EM, the iTNC removes it from the memory to provide space.
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9.12.2 Control of Events The parallel processes can make events available to one another. This saves computing time otherwise spent in the constant interrogating of operating states by the individual processes. A special feature of event control is the waiting period, during which the process can “sleep” for a programmed time. With this function you can repeat program sections in a slow time grid, for example for display or monitoring functions. List of events
In the OEM.SYS file, enter the command PLCEVENTS= to enter the complete name of an ASCII file in which you define the events. The entries in the event file are listed line by line with the following syntax: ; ; ; [comment] Event
Function
This name is identical with the label specified with the spawn command. The iTNC evaluates only the first 16 characters.
Logical expression in accordance with the C language convention, identical with the syntax used in function FN20 (see “Data Transfer PLC > NC Program (Q Parameters)” on page 9 – 34). Operand: M/I/O/T/C/B/W/D with a number that is permissible for this type Condition: == Equal to != or Not equal to < Less than > Greater than = Greater than or equal to If you enter no condition, the interruption will continue until the operand = 0.
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Hexadecimally coded mask of events that are triggered if the condition is fulfilled. The constraints defined in Module 9260 apply for bits 16 to 31.
Cooperative Multitasking
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Example
Entry in the OEM.SYS file: PLCEVENTS=PLC:\EXAMPLE.PEV Content of the file PLC:\EXAMPLE.PEV: JOB_1;I5==1;$0010; Event $0010 to process JOB_1, if I5==1 JOB_1;B20==5;$0004; Event $0004 to process JOB_1, if B20==5 AUXJOB;W6 = 100
UNTILT
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9.14.3 WHILE ... ENDW Structure The WHILE ... ENDW structure repeats a program sequence if a condition is fulfilled. Under no circumstances can you wait with this structure in the cyclic PLC program for the occurrence of an external event! The following commands are available: WHILET (WHILE TRUE): Run the sequence if logic accumulator = 1. WHILEF (WHILE FALSE): Run the sequence if logic accumulator = 0. ENDW (END WHILE): End of the program sequence, return to the beginning The iTNC runs a WHILE ... ENDW loop only if at the beginning the WHILE condition is fulfilled. Before the ENDW instruction you must reproduce the condition for execution. For the WHILE ... ENDW structure the iTNC generates two internal labels. The condition can also be produced in a way different from before the WHILE instruction! Function
STL
Load marker 100 into the logic accumulator; create L M100 condition for 1st WHILE scan. Run the following code if logic accumulator = 1
WHILET
Program code for logic accumulator = 1 Produce the condition of repeated execution: Load L M101 marker 101 in the logic accumulator and gate the A M102 content of marker M102 with AND. Jump back to the WHILE request.
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Program Structures
ENDW
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9.14.4 CASE BRANCH Indexed module call (CASE)
Syntax:
CASE (CASE OF)
Operands:
B/W
Action: Selects a certain subroutine from a list of module calls (CM). These CM commands must follow the CASE statement immediately and are numbered internally in ascending order from 0 to a maximum of 127. The content of the operand (B, W) addresses the desired module. Subsequent entries in the jump table (CM) must have addresses at least four bytes higher than the previous entry. Example: See command ENDC. End of indexed module call (ENDC)
Syntax:
ENDC (ENDCASE)
Operands:
None
Action: You use the ENDC command in connection with the CASE command. It must come immediately after the list of CM commands. Example:
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Function
STL
Case command and operand; the internal address of the desired module must be saved in the operand
CASE B150
Call module if operand content = 0 Internal addressing from 0 to max. 127
CM 100
Call module if operand content = 1
CM 200
Call module if operand content = 2
CM 201
Call module if operand content = 3
CM 202
Call module if operand content = 4
CM 203
Call module if operand content = 5
CM 204
Call module if operand content = 6
CM 300
End of the CASE statement
ENDC
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9.15 Linking Files You can store the source code of the PLC program in several files. To manage these files, use the following commands: USES GLOBAL EXTERN These instructions must be located at the beginning of your PLC program— i.e., before the first PLC command. With the USES instruction you link another file into the program. The GLOBAL instruction supplies a label from its own file for an entry that can be used by all other files. The EXTERN instruction provides a label that is defined in another file and is identified there with GLOBAL. You can then call this label from the active file. You can dramatically improve the transparency of your program by dividing your source code by function into individual groups and then saving these groups in individual files. The number of labels is not limited. You can link up to 256 files to one program. The total size is only limited by the available memory. If the memory is exceeded the error message System memory overflow appears. If you use more than one file, the main program must have the status flag “M” in the directory. This is done in the RAM by using the PLC program function “COMPILE” once and selecting the main program in the file window.
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9.15.1 USES INSTRUCTION (USES) Syntax:
USES
Operands:
None
Action: You can use the USES instruction in the main program to link other files. Files that are linked with USES can themselves also use the instruction to link further files. It is also permissible to use the USES instruction to link a single file to several other files. The code for this file is generated only once. The USES instruction requires a file name as an argument. The USES instruction only links a file; it does not run the file’s program code. The USES instruction cannot be compared with a CM instruction. The linked files must therefore contain individual modules that you can then call with the CM instruction. Example: USES PLCMOD1 USES EPRUPG USES RAMPLC Linking of files: Function
STL
Main program
PLCMAIN.PLC
Link the file for spindle control.
USES SPINDLE.PLC
Link the file for tool change.
USES TCHANGE.PLC
Program code
Function
STL
File for spindle control
SPINDLE.PLC
Integrate file with general subroutines.
USES PLCUPG.PLC
Program code
Function
STL
File for tool change
TCHANGE.PLC
Integrate file with general subroutines.
USES PLCUPG.PLC
Program code
Function
STL
File with general subroutines
PLCUPG.PLC
Program code
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9.15.2 GLOBAL INSTRUCTION (GLOBAL) Syntax:
GLOBAL
Operands:
None
Action: There is no limit to the number of labels in each file linked with USES. To enable a module that was defined in a file to be called from another file, you must declare the module to be global. This is done by entering the GLOBAL instruction at the beginning of the file. You can set labels globally only if they are defined with LBL (and not with KFIELD!) later on in the program. The main program must not contain any GLOBAL definitions. A single label cannot be declared global by more than one module. However, a name that is declared global in file A can be used again locally in file B. The number of labels is not limited. 9.15.3 EXTERN INSTRUCTION (USES) Syntax:
EXTERN
Operands:
None
Action: To enable a label in one file to access modules that other files have declared as GLOBAL, you must declare the label with EXTERN. You must write the EXTERN instruction at the beginning of the file. In the program code you can then jump to this label with the commands CM, CMT and CMF. The following functions are not permitted with external labels: JP, JPF, JPT Access to a constants field Linking a CM instruction in a CASE branch The name of the external label cannot be used again as a local label in the same file.
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9.16 PLC Modules A number of PLC modules are available for PLC functions that are very difficult or even impossible to perform with PLC commands alone. You will find descriptions of these modules under the corresponding functions. (See “Overview of Modules” on page 5 – 3) If the iTNC does not execute a module correctly, Marker M4203 is set and an error code is transmitted in W1022. You can then evaluate M4203 and W1022 in order to display an error message. If desired, the errors of PLC modules can be logged in a special log book (see “Logs” on page 8 – 85).
M4203 W1016
Error status for PLC module PLC module that was last processed erroneously Error status of the last called PLC module
W1022
Set
Reset
NC NC
NC/PLC NC
NC
NC
9.16.1 Markers, Bytes, Words, and Double Words Module 9000/9001 Copy in the marker or word range Modules 9000 (markers) and 9001 (byte/word/double) copy a block with a certain number of markers or bytes, beginning with the start address, to the specified target address. For module 9001 the length should always be defined in bytes. The iTNC copies sequentially, beginning with the first memory cell. Therefore the function is not ensured if the source block and the target block overlap and the source block begins at a lower address than the target block. In this case the iTNC overwrites the overlapping part of the source block before the copying process. Call: PS PS PS CM
B/W/D/K B/W/D/K B/W/D/K 9000
PS PS PS CM
B/W/D/K B/W/D/K B/W/D/K 9001
Error recognition: Marker
Value
Meaning
M4203
0
Markers, bytes, words, or double words were copied
1
Error code in W1022
W1022
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1
Operand address invalid
2
Address too high or block too long
4
Programmed source or destination block too long
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Module 9010/9011/9012 Read in the word range From the specified location in the word memory the iTNC reads a byte, word or double word and returns it as an output quantity to the stack. Indexed reading is possible by specifying a variable as designation of the memory location. Call: PS CM PL
B/W/D/K 9010 ; READ BYTE B
PS CM PL
B/W/D/K 9011 ; READ WORD B
PS CM PL
B/W/D/K 9012 ; READ DOUBLE WORD B
Error recognition:
Example of Module 9010
Marker
Value
Meaning
M4203
0
Byte was read
1
Error code in W1022
W1022
3
Invalid address was programmed
5
Module 9011: Specified address is not a word address Module 9012: Specified address is not a double word address
Initial state: Byte B10 = 35 (address) Byte B35 = 80 (byte to be read) Byte B100 = ? Function
STL
Save the address PS B10 (B10) of the byte to be read from the word accumulator to the data stack.
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Read byte B35 and save to the data stack.
CM 9010
Save data stack in byte B100.
PL B100
PLC Modules
Accumulator content (dec) 35
Data stack (dec) 35
80
80
80
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Module 9020/9021/9022 Write in the word range The iTNC writes the given byte, word or double word to the defined location in the word memory. Indexed writing is possible by specifying a variable as designation of the memory location. Call: PS PS CM
B/W/D/K B/W/D/K 9020 ; WRITE BYTE TO ADDRESS
PS PS CM
B/W/D/K B/W/D/K 9021 ; WRITE WORD TO ADDRESS
PS PS CM
B/W/D/K B/W/D/K 9022 ; WRITE DOUBLE WORD TO ADDRESS
Error recognition:
Example of Module 9020
Marker
Value
Meaning
M4203
0
Byte was written
1
Error code in W1022
W1022
3
Invalid address was programmed
5
Module 9021: Specified address is not a word address Module 9022: Specified address is not a double word address
Initial state: Byte B10 = 35 (address) Byte B100 = 120 (byte to be written) Byte B35 = ? Function
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STL
Accumulator content (dec)
Data stack (dec)
Save the address PS B10 (B10) of the byte to be written from the word accumulator to the data stack.
35
35
Save byte B100 from PS B100 the word accu in the data stack.
120
120
Write data stack in byte B35.
120
CM 9020
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9.16.2 Number Conversion Module 9050 Conversion of binary numbers → ASCII Module 9050 converts a binary numerical value consisting of a mantissa and exponent to base 10 into an ASCII-coded decimal number and saves it as a string in the specified address. The exponent refers to the least significant place of the number. The iTNC detects a negative number when the mantissa corresponds to a negative number in the notation as a two’s complement. The iTNC sets an algebraic sign only before negative numbers. The control does not convert trailing zeros after the decimal point or leading zeros before the decimal point. The iTNC writes the string left-aligned in the string address that you specify. Constraints: The decimal character is defined by machine parameter MP7280 as a comma (MP7280 = 0) or a period (MP7280 = 1). Call: PS PS PS CM
B/W/D/K B/W/D/K B/W/D/K 9050
Error recognition:
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Marker
Value
Meaning
M4203
0
Number was converted
1
For error see W1022
W1022
2
Invalid string address or invalid exponent
PLC Modules
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Module 9051 Conversion of binary numbers → ASCII Module 9051 converts a binary numerical value into an ASCII-coded decimal number in the specified format and saves it as a string in the specified address. The number is interpreted as a two’s complement. For algebraically unsigned notation, the iTNC converts the absolute amount of the number without putting a sign before the string. For algebraically signed notation, the iTNC sets an algebraic sign (“+” or “–”) in front of the string in any event. For notation in inches, the number is divided by 25.4 before conversion. If the number has more decimal places than the total that you have specified for the number of places before and after the decimal point, then the iTNC omits the most highly significant decimal places. In right-aligned notation leading zeros before the decimal point are replaced by blanks; in left-aligned notation they are suppressed. Trailing zeroes after the decimal point are always converted. Constraints: The decimal character is defined by machine parameter MP7280 as a comma (MP7280 = 0) or a period (MP7280 = 1). Call: PS PS
PS PS PS CM
B/W/D/K B/W/D/K Bit 1/0: Format 00: Sign and number left-justified 1: Sign left-justified, number right-justified 10: Sign and number right-justified 11: Not permitted Bit 2: Display converted to INCH Bit 3: Display with sign B/W/D/K B/W/D/K B/W/D/K 9051
Error recognition: Marker
Value
Meaning
M4203
0
Number was converted
1
Error code in W1022
2
Invalid string address, invalid display mode or invalid number of places before or after the decimal point
W1022
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Module 9052 Conversion of ASCII numbers → binary Module 9052 converts an ASCII-coded decimal number (possibly with decimal places) into a signed number and an exponent to the base of 10. You must assign the ASCII-coded decimal number to one of the string memories. If the number has no algebraic sign, the iTNC interprets it as a positive number and accepts both a point and a comma as decimal character. If the full extent of the mantissa cannot be represented in a double word, then the last places are omitted and the exponent is corrected accordingly. If possible, the iTNC adjusts the exponent so that it corresponds to the ASCII notation. Call: PS CM PL PL
B/W/D/K 9052 B/W/D B/W/D
Error recognition: Marker
Value
Meaning
M4203
0
Number was converted
1
For error see W1022
2
Invalid string address or string contains none or too many characters
W1022
Module 9053 Conversion from binary → ASCII/hexadecimal Module 9053 converts blocks of binary values from the word-marker range into a string of ASCII-coded hexadecimal numbers. The iTNC reads the specified number of bytes from the word address that you have specified and converts it to a hexadecimally coded ASCII string. Each byte produces two characters in the string memory. Call: PS PS PS CM
B/W/D/K B/W/D/K B/W/D/K 9053
Error recognition: Marker
Value
Meaning
M4203
0
Number was converted
1
For error see W1022
W1022
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Too many data bytes
2
Invalid string address
4
Invalid word address
PLC Modules
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Module 9054 Conversion from ASCII/hexadecimal → binary Module 9054 converts strings of ASCII-coded hexadecimal values into a block of binary values in the word-marker range. The string in the specified string memory is interpreted as a sequence of ASCII-coded hexadecimal numbers and converted into a block of corresponding binary bytes. Two ASCII characters produce one binary byte. The iTNC saves the binary block beginning at the specified address in the word-marker range. Call: PS PS CM
B/W/D/K B/W/D/K 9054
Error recognition: Marker
Value
Meaning
M4203
0
Number was converted
1
For error see W1022
W1022
2
Invalid string address
11
Invalid word address Odd number of characters in the string or a character that cannot be interpreted as hexadecimal
Example
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Initial state: SO = “63” BO = 99 Function
STL
String accu. (characters), or logic accu. [bits]
Push string address S0 onto the data stack.
PS K+0
63
Push word address B0 onto the data stack.
PS B0
99
Conversion of the two ASCII characters 6 and 3 into the binary number 99.
CM 9054
01100011
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10 Data Interfaces 10.1 Introduction .................................................................................. 10 – 3 10.1.1 Principles of Data Transfer ..................................................... 10 – 4 10.1.2 Data Transfer Check: Handshaking ........................................ 10 – 8 10.2 The Ethernet Interface of the iTNC............................................. 10 – 9 10.3 Connecting the iTNC to the Network....................................... 10 – 10 10.3.1 iTNC Settings ....................................................................... 10 – 10 10.3.2 Network Function: IP Address via DHCP Server ................. 10 – 14 10.3.3 Network Function: Name Resolution via DNS .................... 10 – 14 10.4 Protection Against Data Tampering......................................... 10 – 15 10.5 The USB Interface of the iTNC (USB 1.1) ................................. 10 – 17 10.6 iTNC Serial Data Interfaces ....................................................... 10 – 21 10.6.1 General Information ............................................................. 10 – 21 10.6.2 RS-232-C/V.24 Interface ...................................................... 10 – 21 10.6.3 RS-422/V.11 Interface .......................................................... 10 – 24 10.7 Configuration of Interfaces........................................................ 10 – 26 10.7.1 Control Characters ............................................................... 10 – 26 10.7.2 Selection of Interfaces and Operating Modes ..................... 10 – 27 10.7.3 Configuration of Interfaces .................................................. 10 – 28 10.8 Data Transmission Protocols .................................................... 10 – 32 10.8.1 Selection of Transmission Protocols .................................... 10 – 32 10.8.2 Standard Transmission Protocol .......................................... 10 – 33 10.8.3 Transmission Protocol with Block Check Character ............ 10 – 35 10.8.4 LSV2 Transmission Protocol ................................................ 10 – 39 10.9 Saving/Reading Files ................................................................. 10 – 40 10.10 Data Transfer by PLC ............................................................... 10 – 42 10.10.1 Settings .............................................................................. 10 – 42 10.10.2 PLC Modules ..................................................................... 10 – 42 10.11 External Programming............................................................. 10 – 54
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10 Data Interfaces 10.1 Introduction In addition to their Central Processing Unit (CPU), computer systems usually include various peripheral devices. A CPU is, for example: PC Control Peripheral devices include: Printers Scanners External storage devices, such as hard disks, floppy-disk drives or USB memory sticks Other computer systems A data interface makes it possible for the CPU and its peripheral devices to communicate. The interfaces, which consist of physical links between the computer system and the peripherals, need a transmission line and appropriate software in order to transfer data between the individual units. Standard interfaces include: Ethernet USB 1.1 RS-232-C/V.24 or RS-422/V.11 The relationship between hardware and software, which fully defines an interface, is illustrated by the following diagram:
Computer
Software
e.g. PC, control
Hardware
Software
Peripherals e.g. printer, external memory
The hardware in the diagram covers all the physical components, such as Circuit construction Pin layout Electrical characteristics The software is the operating software, which includes, for example, the drivers for the output modules.
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Introduction
10 – 3
10.1.1 Principles of Data Transfer The term “data” is used to describe all of the information that the computer is capable of collecting and processing. Serial/Parallel
Data can be transmitted in either serial or parallel format. Basically, data is coded in the computer system, e.g. as bytes (8 bits), and supplied to the interface in parallel. In the case of serial data transmission, the parallel information from the computer system has to be converted into a serial data flow by a USART (Universal Synchronous/Asynchronous Receiver/Transmitter). The receiver accepts the serial data flow and converts it back again into parallel information.
Transmitter Memory
0 MSB 1 1 0 1 0 1 1 LSB
Receiver Interface buffer
Interface buffer 0 1 1 0 1 0 1 1
0
1
1
0
1
0
1
1
0 1 1 0 1 0 1 1
Memory
MSB
LSB
0 1 1 0 1 0 1 1
Transmission length
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For parallel data transmission, the interface needs line drivers, e.g. a 36-pin ribbon cable, instead of the USART illustrated above.
Transmitter Memory
0 MSB 1 1 0 1 0 1 1 LSB
Receiver
Interface buffer
Interface buffer
0 1 1 0 1 0 1 1
0 1 1 0 1 0 1 1
Memory
0 MSB 1 1 0 1 0 1 1 LSB
0 1 1 0 1 0 1 1
Transmission length
Advantages of serial data transmission: Economical Ideal for covering long distances Disadvantages of serial data transmission: Slow Advantages of parallel data transmission: Fast Disadvantages of parallel data transmission: Somewhat more expensive Data coding
A common code for data transfer is the ASCII code (American Standard Code for Information Interchange), which codes all characters with seven bits. This means that, in all, 27 = 128 characters are coded. Example: The letter “z” is represented by the following combination of bits: 1 1 1 1 0 1 0 = 122 dec = 7A hex When the letter “z” is transmitted via a serial interface, the appropriate characters are sent one after the other.
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Introduction
10 – 5
Synchronization
A synchronization process ensures that the receiver correctly detects the first character of a transmission. With an asynchronous character frame, the transmission of a data word can begin at any time, starting from an idle state.
Character frame Idle sate
Start bit
Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Parity LSB MSB Bit
1 to 2 Stop bits
Idle state
Data bits
A start bit is transmitted before each data word. If the first bit of the data word had the same value as the idle state, the receiver would not notice any difference from the idle state. After the start bit has been sent, the data word is transmitted, bit by bit, starting with the LSB (Least Significant Bit). The MSB (Most Significant Bit) of the data word is followed by the so-called parity bit in order to detect transmission errors. The character frame is concluded by one or two stop bits. The stop bits enable the receiver to recognize the transmitter again before the start of the next character. Synchronization is repeated before each character and applies for one character frame. Transmission reliability: Parity bit
With an asynchronous character frame, transmission errors can be detected by using the parity bit. The parity bit can take three different forms. No parity check: Error detection is dispensed with. Even parity: The transmitter counts bits with a value of one. If the number is odd, the parity bit is set to one, otherwise it is cleared to zero. The sum of set data bits and the parity bit is therefore always even. Upon receiving a word, the receiver counts all of the set bits, including the parity bit. If the count is odd, there is a transmission error and the data word must be repeated, or an error message will be displayed. Odd parity: The parity bit is so chosen by the transmitter that the total number of all the set bits is odd. An error will thus be detected if the receiver observes an even number of set bits in its evaluation.
Example
The letter “z” corresponds to the bit sequence: 1 1 1 1 0 1 0 Parity bit with even parity = 1 With odd parity = 0
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Data transfer rate
The data transfer rate is given in bits per second. Common transfer rates are: 110, 150, 300, 600, 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200 bps The time taken to transmit one bit (tB) can be calculated from the transfer rate:
1 t B = ----------------------------------------------------------------------------data transfer rate (bps/s) For example, a transfer rate of 19 200 bps will have a bit duration of tB = 52.083 µs.
1 t B = ------------------------------------------- = 52,083 µs 19200 (bps/s)
The number of characters transmitted per second can be calculated from the transfer rate and the transmission format:
data transfer rate (bps/s) characters per second = -----------------------------------------------------------------------------------------number of bit per characters
Example: With a transmission format of one start bit, 7 data bits, two stop bits and a data transfer rate of 300 bps, exactly 30 characters per second will be transmitted. 300 (Bit/s) characters per second = -------------------------------- = 30 1+7+2
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10.1.2 Data Transfer Check: Handshaking By handshaking, two devices control data transfer between them. A distinction is drawn between “software” and “hardware” handshaking. You can choose either of the two procedures: Hardware handshaking
Data transfer is controlled by electrical signals. Information, such as Clear to Send (CTS), Request to Send (RTS), “Start transmission” and “Stop transmission,” is passed on by the hardware. Example: When a computer is to transmit a character, it checks the CTS signal line to see whether it is active (ON). If it is, the character is transmitted. Hardware handshaking requires: The data lines TxD and RxD (transmitted and received data) the RTS control line (switching on transmitting unit) the CTS signal line (Clear to Send) A ground connection
Software handshaking
Control of data transfer is achieved by control characters transmitted via the data line. Example: XON/XOFF method with the RS-232-C/V.24 interface The meaning XON is assigned to control character DC1 and the meaning XOFF to control character DC3. Before transmitting a character, the computer checks whether the receiving unit is transmitting the XOFF character. If it is, the computer delays transmission until it receives the character XON. XON indicates that the connected unit is ready to receive further characters. Software handshaking requires: The data lines TxD and RxD (transmitted and received data) A ground connection
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10.2 The Ethernet Interface of the iTNC General information
You can integrate the iTNC into your plant’s intranet or use a transposed cable to connect directly with a PC. The data transfer rate is dependent on the amount of traffic at the time on the net. For information on the pin layout, see “X26: Ethernet interface RJ45 connection” on page 3 – 68. The iTNC requires an NFS server (Network File System) or a Windows PC (SMB = Server Message Block) as the remote station. It must operate according to the TCP/IP protocol principle. OSI 7-layer model
iTNC
7
Application layer
NFS, SMB
6
Presentation layer
5
Communications layer
4
Transport layer
TCP protocol
3
Network layer
IP protocol
2
Data link layer
Ethernet card
1
Physical layer
Before networking, the TNC must be properly configured. Please discuss the required settings with your network supervisor. SMB signing
HEIDENHAIN does not support SMB signing, which is a further development from Microsoft as part of the CIFS (Common Internet File System). It is a method for authentication, and is intended to thwart a “Man in the middle” attack. In such an attack, computer C intrudes into a connection between computers A and B. It then forces computer A to send all packages intended for B to C instead, where the packages are modified before being passed on to B. The CIFS is not included with the HEIDENHAIN SMB driver. HEIDENHAIN supports SMB, in the version familiar from Windows 2000, but not SMB signing.
X26: Ethernet interface RJ45 port (100BaseT)
Maximum cable length: Unshielded: 100 m Shielded: 400 m Network topology: Star configuration This means a hub serves as a central node that establishes the connection to the other participants.
September 2006
The Ethernet Interface of the iTNC
10 – 9
10.3 Connecting the iTNC to the Network 10.3.1 iTNC Settings For the network settings of the iTNC 530 with Windows 2000, see “Network Settings” on page 11 – 12. 8
Soft key
Option
Press the MOD key in the Programming and Editing operating mode and enter the code number NET123. With the soft keys you can select the required network options:
Meaning
Settings on the iTNC 530 for networking. Multiple IP addresses can be defined. The active IP address is selected with the ACTIVATE LINE soft key.
10 – 10
ADDRESS
Network address of the iTNC: Enter as four decimal numbers separated by points (dotteddecimal notation). Your network specialist assigns the network address of the iTNC. Or, if DHCP has been entered, you can automatically get a network address from a DHCP server (see “Network Function: IP Address via DHCP Server” on page 10 – 14).
MASK
Subnet mask; serves to distinguish the net and host ID of the network: Enter as four decimal numbers separated by points (dotted-decimal notation). Your network supervisor of the iTNC can give you a subnet-mask.
BROADCAST
The broadcast address of the iTNC; is needed only if it is different from the standard setting: Enter as four decimal numbers separated by points (dotted-decimal notation). The standard setting is formed from the net and host ID, in which all bits are set to 1.
ROUTER
Network address of default router: Enter as four decimal numbers separated by points (dotted-decimal notation). This entry is required only if your network consists of several subnetworks interconnected by router.
HOST
Host name: The iTNC registers itself in the network with this name, which you can also use to reach it (with TNCremoNT, for example). If you use a host name server, you must enter a fully qualified host name here. If you leave this entry blank, the iTNC will use the so-called null authentication. If you work with null authentication, the entries under UID, GID, DCM and FCM will be ignored.
HEIDENHAIN Technical Manual iTNC 530
Soft key
Option
Meaning
DOMAIN
Enter DHCP in order to connect the network drives with their official network names via a DNS server (see “Network Function: Name Resolution via DNS” on page 10 – 14), or enter the name and path of an ASCII file. In the ASCII file, names are assigned to the IP addresses of network drives. Then the names instead of the IP addresses can be used in the network settings. Example: DOMAIN = NET.A File NET.A: PC1 160.1.180.20 PC2 160.1.180.21 ... In the column MOUNTDEVICE only the names PC1, PC2 and so on are used.
NAMESERVER
Network address of the domain server (at present without function) Note The protocol is not entered. The data transfer protocol as per RFC 894 is used.
September 2006
Connecting the iTNC to the Network
10 – 11
Soft key
Option
Meaning
Definition of the devices in the network that can be addressed from the iTNC. For each device you define a separate line in the table. MOUNTDEVICE
Connecting via NFS: Device name to be mounted: This is formed from the network address of the device, a colon, and the name of the directory. Entry of the network address as four decimal numbers separated by points (dotted-decimal notation). When entering the path name, pay attention to capitalization. Connecting individual Windows computers: Enter the network name and share name of the computer, e.g. //PC1791NT/C
MOUNTPOINT
Device name: The device name entered here is displayed at the TNC in the program management for the mounted network, e.g. WORLD: The name must end with a colon.
FILESYSTEMTYPE
File system type: nfs: Network File System smb: Windows network
10 – 12
OPTIONS (for FILESYSTEMTYPE = nfs)
Options that concern the file system type nfs: Options are entered without spaces, separated only by commas. Pay attention to capitalization. Options: rsize: Packet size for data reception in bytes. Input range: 512 to 8192 wsize: Packet size for data transmission in bytes. Input range: 512 to 8192 timeo: Time in tenths of a second after which the iTNC repeats a Remote Procedure Call not answered by the server. Input range 0 to 100000. If there is no entry, the standard value 7 is used. Use higher values only if the iTNC must communicate with the server over more than one router. Your network specialist determines this value. soft: The Remote Procedure Call is repeated until the NFS server answers. If soft is entered, it is not repeated.
OPTIONS (for FILESYSTEMTYPE = smb)
Options that concern the file system type smb: Options are entered without spaces, separated only by commas. Pay attention to capitalization. Options: ip=: IP address of the Windows PC to which the iTNC is to be connected username: User name with which the iTNC should log in workgroup: Workgroup under which the iTNC should log in password: Password with which the iTNC should log in (up to 80 characters)
AM
Auto mount (yes = 1, no = 0): Here you define whether during power-on the iTNC automatically mounts the network. Devices that are not mounted automatically can be mounted at any time in the program management.
HEIDENHAIN Technical Manual iTNC 530
Soft key
Option
Meaning
If a ping is sent, the receiver sends it back to the sender. Thus a ping can be used to check whether a connection to a particular remote station is possible. The address is entered as four decimal numbers separated by points (dotted-decimal notation). After the ping has been sent, one of the following messages appears: HOST RESPOND: Data package was received again TIMEOUT: Data packages were not sent back within a certain period of time CAN NOT ROUTE TNC: TNC could not send data package to the receiver TNC USER ID
Definition of which user identification the end user uses to access files in the network. Your network specialist determines this value.
OEM USER ID
Definition of which user identification the machine tool builder uses to access files in the network. Your network specialist determines this value.
TNC GROUP ID
Definition of which group identification is used to access files in the network. The group identification is the same for end users and machine tool builders. Your network specialist determines this value.
UID for mount
Definition of the user identification with which the logon process is executed. USER: The logon is with the USER identification. ROOT: The logon is with the identification of the ROOT user, value = 0.
Note You might be able to omit the entries username, workgroup and password in the column OPTIONS for Windows 95 and Windows 98 networks. You can encoder the password defined under OPTIONS with the ENCRYPT PASSWORD soft key.
September 2006
Connecting the iTNC to the Network
10 – 13
10.3.2 Network Function: IP Address via DHCP Server (Upgrade function – FCL2) Using the code number NET123 and the DEFINE NET soft key, “DHCP” can be entered as the network address in the ADRESS column. In this case the control automatically retrieves the network address (IP address), the subnet mask (MASK column) and any necessary broadcast address (BROADCAST column) from a DHCP server on the network (Dynamic Host Configuration Protocol). If necessary, “DHCP” can also be entered in the ROUTER column, so that the IP address of a default router can automatically be retrieved by the DHCP server. If necessary, the IP address of the control can be determined by the network from the network name. This name can be found on the control under DEFINE NET in the HOST column. On the network the IP address can be ascertained via command line (DOS window) with the “ping ” command (e.g. ping TNC_123). Below is the example for the configuration of a table which is accessed via Programming and Editing, MOD, code number NET123 and the DEFINE NET soft key: ADDRESS DHCP
MASK
BROADCAST
ROUTER HOST TNC_123
DOMAIN NAMESERVER
Note In order to maintain the simple procedure for establishing a network connection between the control and the computer software from HEIDENHAIN, such as TNCremoNT, TNCopt or PLCdesignNT, the newest versions of the software also support the entry of host names or network names instead of the IP address. For example, if the name “TNC_123” is entered via code number NET123 and the DEFINE NET soft key in the HOST column, it can be entered in TNCremoNT in the IP address field for configuring the connection. 10.3.3 Network Function: Name Resolution via DNS (Upgrade function – FCL2) Via code number NET123 and the DEFINE NET soft key, the name of a domain can be entered in the DOMAIN column, and the IP address of a Domain Name Server (DNS) in the NAMESERVER column. This resolves the symbolic computer names in this domain, and the entry of IP addresses in the mount table (via the DEFINE MOUNT soft key) is no longer needed. If “DHCP” is entered in the DOMAIN column, entering a domain name and an IP address of the name server is not necessary. These are then automatically assigned by the network. ADDRESS
10 – 14
MASK
BROADCAST
ROUTER HOST
DOMAIN NAMESERVER DHCP 192.168.2...
HEIDENHAIN Technical Manual iTNC 530
10.4 Protection Against Data Tampering Due to the possibility of networking the iTNC 530 and accessing it remotely, protection from data tampering became necessary. The following protection mechanisms are integrated: General disabling of data access by soft key Restricting access to the PLC partition Restricting access to parts of the TNC partition This function was added for the end user. Please see the notes in the User’s Manual. General disabling of data access Soft key
Meaning This soft key disables access to the control using the LSV2 protocol, via both the serial and the Ethernet interfaces. It can be displayed in any operating mode with the MOD key.
The soft key is normally not shown. To display the soft key: 8
Restricting access to the PLC partition
Enter the codeword REMOTE.LOCKSOFTKEYVISIBLE = YES in OEM.SYS.
In the standard setting, the PLC partition can be accessed via the LSV2 protocol using the codenumber 807667. To permit this access only with the codenumber defined in OEM.SYS under PLCPASSWORD = (no longer with 807667): 8
Enter the codeword REMOTE.PLCPASSWORDNEEDED = YES in OEM.SYS.
Code number 807667 is used during machine backup and full backup with the LSV2 protocol to access the PLC partition. To permit this access only with the codenumber defined in OEM.SYS under PLCPASSWORD = (no longer with 807667): 8
September 2006
Enter the codeword REMOTE.PLCPASSWORDFORCED = YES in OEM.SYS.
Protection Against Data Tampering
10 – 15
✎
10 – 16
HEIDENHAIN Technical Manual iTNC 530
10.5 The USB Interface of the iTNC (USB 1.1) The USB interface is a standard serial interface. (USB = Universal Serial Bus) USB 1.1 provides a maximum data transfer rate of 12 Mbps. Various USB devices, such as mouse, touchpad, external hard disks, and USB memory sticks, can be connected to the iTNC via the USB interface (X141, X142). Note If USB components require more than 0.5 A, a separate power supply becomes necessary for these components. One possibility is the USB hub from HEIDENHAIN (368 735-01). The USB interface features the “hot-plug capability.” This means that you can connect USB devices to the USB interface and remove them, without having to shut down and then restart the control. Transmission distance without hub: Up to 6 meters Note For greater transmission distances, you must use a USB hub after every six meters in order to amplify the signal. You can use more than one hub for one transmission distance. USB cables with a length of up to 36 meters (with 6 integrated USB hubs) are available from HEIDENHAIN. Structure
The USB interface connects the USB peripheral devices with the USB host. The topology of a USB connection may consist of several levels arranged in a star configuration. Every level consists of a USB hub to which other USB devices or hubs are connected in a star configuration. A maximum of 127 USB devices can be connected to a USB host in this way.
Topology of the USB interface
September 2006
The USB Interface of the iTNC (USB 1.1)
10 – 17
Functionality and signal designations
USB uses packet-based communication over two differential data lines. This reduces radiation and increases transmission reliability. USB provides significantly higher data transfer rates than the parallel / Centronics, and serial / RS-232, RS-422 external interfaces: USB full speed of up to 12 Mbps USB low speed of up to 1.5 Mbps Conventional interfaces, such as the RS-232, are more suitable for time-critical applications because they are not based on packets which reduce the transfer rate (in case of packets with only a few bytes) or delay transmission (when collecting bytes for filling a packet). Only four wires are required in a USB cable. Two for a power supply of 5 V (with max. 500 mA / 2.5 W) and two for data transmission.
Structure of the USB cable
USB data carriers on the control (Upgrade function – FCL2)
The USB interface of the control allows for convenient and fast exchange of data. You can connect USB block devices, such as memory sticks, hard disks, CD-ROM drives, to your control via the USB interface without having to reboot the system. The data media can be accessed immediately after connection. The control supports the following USB block devices: Floppy disk drives with FAT/VFAT file system or ISO9660 Memory sticks with FAT/VFAT file system or ISO9660 Hard disks with FAT/VFAT file system or ISO9660 CD-ROM drives with FAT/VFAT file system or ISO9660 The control does not support USB devices with other file systems (e. g. NTFS). If you try to connect such devices, the control will issue an error message. Note It should basically be possible to connect all USB block devices with the above-mentioned file systems to the control. If you nevertheless encounter problems, please contact HEIDENHAIN. Please note that the “Automatic Update” function on the control with USB data carriers is independent of the Feature Content Level.
10 – 18
HEIDENHAIN Technical Manual iTNC 530
Connecting and disconnecting USB data carriers (upgrade function)
There are two soft keys in the iTNC’s file manager for connecting and removing USB data carriers (hard disks, memory sticks, etc.):
These appear after the MORE FUNCTIONS soft key is pressed, if the USB device was selected in the file manager. If the USB device is not selected, then the iTNC only shows the soft key for connection. Warning In order to remove a USB data carrier, you must always press the MORE FUNCTIONS and
soft keys. Data can be lost if the USB data carrier is removed from the control before the appropriate soft key is pressed. USB data carriers tested by HEIDENHAIN (upgrade function)
A variety of USB storage media from different manufacturers is available on the market. It may happen that a USB device is not identified correctly by the control. The USB devices listed in the table below were tested by HEIDENHAIN for proper functioning in conjunction with the control (numerous other USB devices are supported by the control, but you should test them for proper functioning on the control before using them):
USB device
Manufacturer Model designation
VendorID
ProductID
Revision
Floppy disk drive
TEAC
TEAC FD-05PUW
0644
0000
0.00
Floppy disk drive
TEAC
TEAC FD-05PUB
0644
0000
0.00
CD-ROM drive
TEAC
USB CD-ROM 210 PU
0644
1000
1.33
CD-ROM drive
FREECOM
USB2-IDE Controller
07ab
fc02
11.10
Hard disk
UNKNOWN
USB to IDE Converter
05e3
0702
0.02
Memory stick
TrekStor
USB MiniStick
0c76
0007
1.00
Memory stick
QDI
UNKNOWN
0c76
0005
1.00
Memory stick
Transcend
TS512MJFLASH
058f
9380
1.00
Memory stick
Transcend
Flash Disk
0ea0
2168
2.00
Memory stick
Generic
Mass Storage Device
058f
9384
1.05
September 2006
The USB Interface of the iTNC (USB 1.1)
10 – 19
✎
10 – 20
HEIDENHAIN Technical Manual iTNC 530
10.6 iTNC Serial Data Interfaces 10.6.1 General Information The iTNC features one of each of the interfaces: RS-232-C/V.24 and RS-422/V.11 The two interfaces differ in the design of their hardware with regard to signal lines, signal levels and pin layout. The data format and transmission protocol are the same. The two interfaces can be operated in parallel. Three transmission protocols are available: Standard Transmission Protocol Transmission protocol with Block Check Character (BCC) LSV2 transmission protocol Note No connection to the serial interface of the iTNC can be established if the file manager on the iTNC is open. 10.6.2 RS-232-C/V.24 Interface RS-232-C/V.24 is the designation for a serial interface. Data transfer is executed asynchronously, with a start bit before each character and one or two stop bits after each character. Transmission distance: up to 20 m Hardware
The physical connection between two RS-232-C/V.24 interfaces is an asymmetrical line, i.e. the common ground connection between transmitter and receiver is used as a return wire. Physical connections:
Receiver
Transmitter TxD
RxD
RxD
TxD Transmission length
September 2006
iTNC Serial Data Interfaces
10 – 21
Signal levels
The levels of the individual signal lines differ: Data lines: The data signals are defined as being logical zero (SPACE) over the range +3 V to +15 V and logical one (MARK) over the range –3 V to –15 V. Control and verification lines: These signals are defined as being ON (High) over the range +3 V to +15 V and as OFF (Low) over the range –3 V to –15 V.
U [V]
Data signals
+ 15
+
3 0 3
15
Control and verification signal
"0" SPACE
HIGH ON
"1" MARK
LOW OFF
Note For all signals: The voltage range from –3 V to +3 V cannot be evaluated.
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HEIDENHAIN Technical Manual iTNC 530
Signal designations
One must differentiate between the following types of lines and their signals: Data lines: • TxD Transmitted data • RxD Received data Control and signal lines: • DCD (Data Carrier Detect): Received signal level. The receiver signals that the information it has received lies within the defined level. The DCD signal is not used by the iTNC. The iTNC delivers no signal from this pin. • DTR (Data Terminal Ready): iTNC ready / not ready for service (e.g. the receiving buffer is full, the signal DTR indicates “LOW”). • DSR (Data Set Ready): Peripheral ready / not ready for service. • RTS (Request to Send): Switch transmission unit on. iTNC wishes to transmit data. • CTS (Clear to Send): Readiness for transmission. The peripheral wishes to transmit data. Ground conductors (lines for power supply): • Chassis GND: Housing connection • Signal GND: 0-V lines for all signals
Pin layout
September 2006
Keep in mind that there might be a difference between the pin layout of the MC 42x(B) and the adapter block.
iTNC Serial Data Interfaces
10 – 23
10.6.3 RS-422/V.11 Interface RS-422/V.11 is a standard serial interface. It is suitable for data transfer rates up to 10 Mbps. The interface module of the iTNC can transmit data at up to 115 200 bps. Transmission distance: over 1 kilometer Hardware
The interface works symmetrically, using two signal lines. At the receiver, the difference in voltage of the two lines is evaluated. Advantage: Longer lines can be used Higher data transfer rate Physical connections:
Receiver
Transmitter TxD
RxD
RxD
TxD Transmission length
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HEIDENHAIN Technical Manual iTNC 530
Signal levels
The signals are both transmitted and received as differential voltage. A positive differential voltage corresponds to logical zero (OFF). A negative differential voltage corresponds to logical one (ON). Vdmin = 2 V and Vdmax = 5 V The control unit detects the differential voltages between Vdmin = 0.2 V and Vdmax = 6 V as a logically defined level.
Ud [V] +
6
+
5
+
Output
Input
"0" OFF
"0" OFF
"1" ON
"1" ON
2
+ 0.2 0.2
Signal designations
2
5
6
The following signals are transmitted as differential signals: Signals
Signal designation
Data signals
TxD, TxD
RxD, RxD
Control and message signals
RTS
CTS
DSR
DTR
The protective ground connects the transmitter and receiver housings. GND is the differential voltage reference conductor. These signals perform the same functions as those on the RS-232-C/V.24 interface. Pin layout
September 2006
The MC 42x(B) and adapter block have the same pin layout.
iTNC Serial Data Interfaces
10 – 25
10.7 Configuration of Interfaces 10.7.1 Control Characters Overview of control characters specific to HEIDENHAIN
10 – 26
Character
Designation
Description
SOH
Start of Header
Identifies the beginning of the data transfer header. The character string contains the program number and information about the type of program and the transfer mode.
STX
Start of Text
Identifies the beginning of a program block.
ETB
End of Text Block
Terminates a data transfer block. The character that follows (BCC) is used for data checking.
DC1
XON
Starts the transfer of data.
DC3
XOFF
Stops the transfer of data.
ETX
End of Text
Transmitted at the end of a program.
EOT
End of Transmission
Terminates the data transfer and establishes the idle state. This character is transmitted by the iTNC at the end of a program input and to the external device in the event of an error.
ACK
Acknowledgment
Transmitted by the receiver when a data block has transferred without error.
NAK
Negative Acknowledgment
Transmitted by the receiver when a data block has transferred with an error. The transmitter must retransmit the data block.
HEIDENHAIN Technical Manual iTNC 530
10.7.2 Selection of Interfaces and Operating Modes To disable or enable either of the RS-232-C/V.24 and RS-422/V.11 interfaces: 8
Select MP5000.
If at least one of the interfaces is enabled, you can select the following settings: 8
Call the MOD functions.
8
Choose the desired operating mode from the table.
For the following external devices
Choose the operating mode
HEIDENHAIN floppy disk unit:
FE1
FE 401 B FE 401 from program no. 230 626-03 HEIDENHAIN FE 401 floppy disk unit up to program FE2 no. 230 626-02 PC with HEIDENHAIN TNC.EXE data transfer software PC with HEIDENHAIN software TNCremo
LSV2
Non-HEIDENHAIN devices such as printer, punch or PC EXT1 and EXT2 with other data transfer software MP5000 Input:
Communication between iTNCs
8
Disable data interfaces 0: No interface disabled 1: RS-232-C/V.24 interface disabled 2: RS-422/V.11 interface disabled 3: RS-232-C/V.24 and RS-422/V.11 interfaces disabled
Set both iTNCs to LSV2 protocol. The control from which you start the data transmission is the master.
The PLC provides you with access to the data interfaces (EXT3/EXT4).
September 2006
Configuration of Interfaces
10 – 27
10.7.3 Configuration of Interfaces To configure data format and the type of handshake in the EXT1/EXT2/EXT3/ EXT4 operating modes (EXT3/EXT4 only for the PLC): 8
Select machine parameter MP5020.x.
Data bits
With bit 0 you determine whether transmission is to be with seven or eight data bits. Transmission with seven bits is normally used, for printer interfacing eight bits are required.
Block Check Character (BCC)
With bit 1 you can ensure that the BCC is not interpreted as a control character. On the iTNC, numbers less than $20 are defined as control characters. If calculation of the BCC produces a number less than $20, then a blank space is sent in addition immediately before . The BCC will consequently always be greater than $20 and cannot therefore be interpreted as a control character.
Hardware handshaking
Bit 2 can be set to determine whether the iTNC stops transfer from an external device by sending an RTS signal. Data output from iTNC to EXT When the receiving buffer is full, the external device resets the RTS signal. The iTNC detects that the peripheral unit receiving buffer is full at its CTS input:
TNC RST +
EXT Activating data output
CST + TxD +
Data Start
RxD +
+ CST
Input buffer full
+ RST Data
Data
+ RxD + TxD
+ positive voltage level negative voltage level
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HEIDENHAIN Technical Manual iTNC 530
Data input from EXT to iTNC When the receiving buffer is full, the iTNC removes the RTS signal. This is detected by the peripheral device at its CTS input:
TNC
Input buffer full
RST +
EXT + CST
CST +
+ RST
TxD +
+ RxD
RxD +
+ TxD
Start
+ positive voltage level negative voltage level The DTR and DSR signals indicate the operational status of the iTNC and peripheral device: DTR: Interrogated by peripheral; it is logical one if iTNC is ready for service. DSR: Interrogated by iTNC. • HIGH level means: external data input/output ready. • LOW level means: external data input/output not ready. Software handshaking
With bit 3 you determine whether the iTNC stops transfer from an external device with control character . Transfer is then resumed with character . (XON/XOFF method) If transfer is stopped with the control character , up to three more characters can be stored; any further incoming characters are lost. Software handshaking is normally recommended when interfaces are connected to an external device. Note The iTNC reacts both to hardware and software handshakes, regardless of the setting in MP5020.x. If no transmission stop is set in MP5020.x, the iTNC stops the peripheral unit with the software handshake. If a transmission stop by RTS and by DC3 is active simultaneously, the iTNC stops transfer with the hardware handshake.
Character parity
September 2006
Bits 4 and 5 determine the type of parity check.
Configuration of Interfaces
10 – 29
Stop bits
Bits 6 and 7 determine the number of stop bits sent at the end of a character. MP5020 Format: Input:
MP5020.0 MP5020.1 MP5020.2 MP5020.3 Transmission protocol
The transmission protocol for operating modes EXT1/EXT2/EXT3/EXT4 is defined with MP5030: MP5030 Input:
MP5030.0 MP5030.1 MP5030.2 MP5030.3
10 – 30
Configuration of the data interface %xxxxxxxx Bit 0: 0 = 7 data bits, 1 = 8 data bits Bit 1: 0 = any BCC, 1 = BCC not control character Bit 2: 0 = transmission stop by RTS not active, 1 = active Bit 3: 0 = transmission stop by DC3 not active, 1 = active Bit 4: 0 = character parity even, 1 = odd Bit 5: 0 = character parity not desired, 1 = desired Bit 6 = 0, Bit 7 = 0: Length of the stop – 1.5 bits Bit 6 = 1, Bit 7 = 0: Length of the stop – 2 bits Bit 6 = 0, Bit 7 = 1: Length of the stop – 1 bit Bit 6 = 1, Bit 7 = 1: Length of the stop – 1 bit Operating mode EXT1 Operating mode EXT2 Operating mode EXT3 (PLC) Operating mode EXT4 (PLC)
Communications protocol 0 = standard data transfer protocol 1 = blockwise transfer 2 = without protocol (only for MP5030.2) Operating mode EXT1 Operating mode EXT2 Operating mode EXT3 (PLC) Operating mode EXT4 (PLC)
HEIDENHAIN Technical Manual iTNC 530
Example
The printer NEC P7 PLUS is to be configured with operating mode EXT1. The parameters listed are preset by the printer (see the operating manual of the printer concerned): Serial interface 8 data bits Even character parity XON/XOFF protocol (software handshake) 9600 bps The following settings are made at the iTNC: 8
Select MP5000 = 0.
8
Select MP5020.0 = %10101001.
8
Select MP5030.0 = 0.
Machine parameters
Effect
MP5000 = 0
No interface inhibited
MP5020.0 = %10101001
Bit 0: 8 data bits Bit 1: any BCC character Bit 2: transmission stop by RTS not active Bit 3: transmission stop by DC3 active Bit 4: character parity even Bit 5: character parity desired Bit 6/7: 1 stop bit
MP5030.0 = 0
September 2006
Standard data transfer
8
Call the MOD functions.
8
Choose the EXT1 operating mode.
8
Set the baud rate for EXT1 to 9600 bps.
Configuration of Interfaces
10 – 31
10.8 Data Transmission Protocols 10.8.1 Selection of Transmission Protocols The operating modes are assigned the following transmission protocols: Modes of operation
Transmission protocol
FE1
Select a protocol with BCC and with fixed control characters 1 start bit, 7 data bits, 1 stop bit
EXT1, EXT2, EXT3, EXT4
Select data format and transmission protocol using machine parameters
LSV2
Start this protocol from a PC or from the iTNC. The protocol runs in the background of the iTNC.
The following applies to all data transmission protocols except LSV2: If an incoming file is already stored in the iTNC, the TNC will ask you whether you really wish to overwrite this file: 8
Press a soft key to continue the transmission.
If you attempt to overwrite a write-protected file, the iTNC displays the Protected file! error message: 8
Press the MORE FUNCTIONS soft key and then the UNPROTECT soft key to cancel write-protection and continue transmission.
If a file has been read out and the data transfer menu has been terminated with the END key, the iTNC outputs the characters and . If a transmission is terminated with the END key, the error message Program incomplete is issued.
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HEIDENHAIN Technical Manual iTNC 530
10.8.2 Standard Transmission Protocol General Information
To set the standard data transmission protocol in the operating modes EXT1/ EXT2/EXT3/EXT4: 8
Select MP5030.x = 0.
When outputting a file, the character is sent exactly 50 times at the start of file. When reading in, however, the control unit ignores this character, regardless of how often the peripheral sends the character before the file. The program blocks are not checked for correctness but are transmitted one after the other. If you wish to signal an error to the iTNC in the standard data transmission protocol, you must send the following sequence of instructions: If the receiver’s data buffer is full, the transfer can be stopped and resumed in one of two ways: Software handshaking • Stop transfer by sending the character (XOFF) • Continue by transmitting the character (XON) Hardware handshaking • By suitable levels on the control and message lines RTS and CTS of interfaces RS-232-C/V.24 or RS-422/V.11 Twelve characters before the receiving buffer is full, the iTNC transmits the character to the transmitter in order to terminate transmission. Example: Protocol for conversational NC program
50 times
0 BEGIN PGM 1 MM
1st program block
1 TOOL DEF 1 L+0 R+3 2nd program block 26 END PGM 1 MM
End of program
...
...
Close the data transmission menu
Example of software handshake iTNC to peripheral
Peripheral to iTNC
12 Z + 2 FMAX
Receiving buffer full:
13 Z -10 FMAX
...
Receiving buffer ready again:
September 2006
Data Transmission Protocols
10 – 33
Output selected file
The EXT1 operating mode is set with software handshake. The iTNC outputs all of the program lines in order. The peripheral unit can: Stop transmission with Resume transmission with iTNC to peripheral
Peripheral to iTNC
... 1st line of file ... 5th line of file
Transmission stop: Resume transmission:
6th line of file ...
...
Last line of file Load selected file
The EXT1 operating mode is set with software handshake. To read-in a file from a peripheral unit: 8
Enter the file name in the iTNC.
The iTNC can: Stop transmission with Resume transmission with iTNC to peripheral
Peripheral to iTNC
100.H “START”
First line PGM100 ... Last line PGM 100
If the file name in the first line and the name indicated in the iTNC are not identical, the iTNC reads each block in and searches for the correct file name. If the END PGM block has been read in, and the selected name is not known, the iTNC remains static without an error message: 8
10 – 34
In this case, terminate transfer with the END key.
HEIDENHAIN Technical Manual iTNC 530
10.8.3 Transmission Protocol with Block Check Character This protocol is specific to HEIDENHAIN and operates with its own control characters and an additional data check feature when transmitting. The protocol is set with the following operating modes: FE1 mode EXT1/EXT2/EXT3/EXT4 mode if MP5030.x = 1 The data transfer protocol is identical for all these modes except for the FE1 mode. In the FE1 mode, a command sequence is output at the beginning to request the contents directory from the peripheral unit. Header
Block Check Character (BCC)
When a file is transferred, the first block — called the header — consists of the following characters: Character
Meaning
Identifies the beginning of the header
File code
File name
Data transfer mode (E = input, A = output)
Identifies the end of the header
Block Check Character
XON
In addition to checking the parity of the individual characters, the parity of the complete transferred block is also checked. The BCC always rounds the individual bits of the transferred characters in a data transfer block to even parity. Example of BCC generation: In this example, program 15, which has been written in HEIDENHAIN plainlanguage text (H), is input through the data interface (E). Character
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
SOH
0
0
0
0
0
0
1
H
1
0
0
1
0
0
0
1
0
1
1
0
0
0
1
5
0
1
1
0
1
0
1
E
1
0
0
0
1
0
1
ETB
0
0
1
0
1
1
1
BCC
0
0
1
1
1
1
1
A parity bit is also generated for the BCC. With even parity, the parity bit in this example is assigned the value 1.
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At the end of every block, the receiver checks whether it has been transferred correctly. To do this, the receiver computes a BCC from the received block and compares it with the received BCC. If the received BCC and the computed BCC are identical, the receiver transmits the character for positive acknowledgment. If the two BCCs are not identical, the data block was not transmitted correctly. The receiver transmits the character for negative acknowledgment. The block must be re-transmitted. This process is repeated up to 15 times, then the error message Transferred data incorrect E is output. The transmission is aborted. If the header is acknowledged with , the first file block can be transmitted: The beginning of a file block is identified by the control character . The remaining control characters in this block are identical with the control characters in the header. If this block is acknowledged by , then the next program block is transmitted. With , the same block has to be retransmitted, etc. Once the last program block has been acknowledged by , the transmission is terminated by the characters (end of text) and (end of transmission). Handshaking
The character (XON) follows the BCC. This character is required by many devices to explicitly request the transmission once again from the transmitter. The character is not required for reading in a file in the BCC format. The transmitter waits and only resumes data transmission when the receiver has transmitted a positive (ACK) or negative (NAK) acknowledgment to indicate that the receiving buffer is ready. To disable transmission of the character in the EXT1, EXT2, EXT3 and EXT4 modes: 8
Set MP5020.x bit 3 = 0.
Example: To read out a pallet file with the name PPP to a peripheral device (e.g. FE 401). iTNC to peripheral
Peripheral to iTNC
PPPBCC
“1st line”BCC
...
...
“10th line”BCC
“10th line”BCC
“11th line”BCC
...
...
“last line”BCC
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HEIDENHAIN Technical Manual iTNC 530
Report error to the iTNC
FE1 mode is set. If an error occurs at a peripheral device, the following block must be sent to the iTNC: BCC Peripheral to iTNC
iTNC to peripheral
“Error”BCC
The received error message is displayed on the iTNC. To continue 8
Request external directory
Press the CE key.
FE1 mode is set. This protocol is not available in the EXT mode. In FE1 mode the following ‘Escape’ sequence is sent to request the external directory: The iTNC expects the following input to this request: xxxxxx P = Protected (optional)
1)
The first four lines, each ending in , are ignored. In subsequent lines ending with , the program name and, after any number of blank characters, the number of sectors are stored. If the character combination is detected, only a number — the number of free sectors — will be read in. The iTNC requests the complete directory. The directory is saved and the files of the selected type are displayed. The peripheral device ends transmission with . The iTNC sends an . Output selected file iTNC to peripheral
Peripheral to iTNC
NameBCC
NameBCC
“1st line”BCC
...
...
“last line”BCC
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Data Transmission Protocols
10 – 37
Output marked files
Marked files are output in the same protocol as for outputting the selected files. After each file, the control characters are sent to the peripheral device.
Load selected file
To read in a file from an external memory, the iTNC sends a header with the file name. iTNC to peripheral
Peripheral to iTNC
NameBCC
“1st line”BCC
...
...
“last line”BCC
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HEIDENHAIN Technical Manual iTNC 530
10.8.4 LSV2 Transmission Protocol The LSV2 protocol is a data transfer protocol for the two-way transfer of commands and data. The data is transferred in blocks — so-called telegrams — into which the data is split up. The following functions are possible: Data transfer File management, such as deleting, copying and renaming files Changing, creating and deleting paths Remote operation of the control functions. The TNC screen appears on the computer monitor. All functions can be executed from the computer. Real DNC operation. Starting and stopping the machine from the PC. Diagnosis of iTNC error messages and keystrokes for service purposes. The last 1000 events are stored in the iTNC. HEIDENHAIN offers two LSV2 software packages. Please contact HEIDENHAIN for further information. Timeouts
You can define your own times for timeouts in the system file OEM.SYS: LSV2TIME0 = Timeout for receiving block STX to ETX (standard 3 s) LSV2TIME1 = Timeout for acknowledging ENQ or check sum (standard 3 s) LSV2TIME2 = Timeout when sending DLE 0, DLE 1 or NAK until a valid character is received (standard 1 s) Input range: 0.001 to 3.6 s Note If the code words are not defined or if the input range is exceeded, the standard values are used.
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10.9 Saving/Reading Files The table lists all the files that can be saved to external memory and read back in from them. File
File extension
File code
NC program in HEIDENHAIN dialog
.H
H
NC program in ISO format
.I
D
Tool table
.T
T
Pallet table
.P
L
Datum table
.D
N
Machine parameters
.MP
M
Compensation table
.COM
V
Compensation assignment
.CMA
S
PLC program
.PLC
P
Text file
.A
A
Pocket table
.TCH
R
Help files
.HLP
J
Point table
.PNT
U
PLC error table
.PET
F
System file
.SYS
O
Cutting-data table
.CDT
–
Freely definable tables
.TAB
–
Motor table (asynchronous motors)
.ASN
–
Motor table (synchronous motors)
.SN
–
Motor table (servo amplifiers)
.AMP
–
Error file
.JOU
–
OEM cycles
.CYC .DES .PIC .ELE
–
Oscilloscope recordings
.DTA
–
Network settings
.N00 .M00 .P00
–
To write to or read from machine parameter files, compensation tables or PLC files, you must enter the correct code numbers with the MOD function: You can output the current values of Q parameters, PLC error messages and dialogs over the RS-422/V.11 and RS-232-C/V.24 interfaces. (NC program: FN 15: PRINT). During transmission with a Block Check Character (BCC), each device outputs and receives the correct file code.
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HEIDENHAIN Technical Manual iTNC 530
Example: If a pallet table is stored, it is given the file extension *.LNC. For data transmission with the TNCremoNT PC software from HEIDENHAIN the file code has no significance. The files are saved on the PC with the same extension as on the iTNC. Note Files that have no code (-) can only be transmitted with the LSV2 protocol of TNCremoNT.
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Saving/Reading Files
10 – 41
10.10 Data Transfer by PLC 10.10.1 Settings PLC modules make it possible for the PLC to transfer data via the RS-232-C/ V.24 or RS-422/V.11 data interfaces. These modules, for example, permit communication between two MC 42x(B) at PLC level via the interface. During data transfer, use of the interface is inhibited for the input/output program of the user interface. 8
Select a standard operating mode, FE1 or
8
Configure the data interface with MP5020.x to MP5040.x in EXT3/EXT4 mode.
MP5040 Input:
MP5040.0 MP5040.1
Data transfer rate in operating mode EXT3 or EXT4 (data transfer through PLC) 0: 110 bps 1: 150 bps 2: 300 bps 3: 600 bps 4: 1200 bps 5: 2400 bps 6: 4800 bps 7: 9600 bps 8: 19200 bps 9: 38400 bps 10: 57600 bps 11: 115200 bps Operating mode EXT3 (PLC) Operating mode EXT4 (PLC)
10.10.2 PLC Modules With the following PLC modules you can operate the data interfaces from the PLC: Modules 9100 and 9101: Assign/release the data interfaces Module 9102: Interrogate the status of the interface Modules 9103 and 9104: Transmit and receive a string from the string memory. The transmit and receive buffers for the PLC are 128 characters long. Since every STRING ends with an END character, a STRING can only be up to 127 characters long. Modules 9105 and 9106: Transfer a block of binary values (bytes) from the word memory Module 9107: Read bytes from the receive buffer without erasing the buffer STRINGS and binary data are transferred using ASCII characters.
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HEIDENHAIN Technical Manual iTNC 530
Example: Transferring a binary block Address
Value
ASCII character
.
.
.
B126
11111010
$FA
.
10000001
$81
.
.
.
.
.
.
When transferring binary data starting from the address B126, the ASCII characters etc. are transmitted in sequence from the word memory through the interface. Each byte contains two ASCII characters. The transmit and receive buffers each hold 63 bytes. Module 9100 Assign data interface Module 9100 assigns an interface to the PLC and configures the transfer parameters. It initializes the interface, thereby erasing any errors that may have occurred. The interface is switched to receive mode. Once assigned to the PLC, the interface is disabled for use by the input/output program of the user interface. The assignment is canceled when the PLC program is recompiled. Can only be called in a submit job or spawn job! Call: PS
PS
CM
B/W/D/K 0: RS232 1: RS422 B/W/D/K 0: From MP50x0.2 1: From MOD function 2: From MP50x0.3 9100
Error recognition: Marker
Value
Meaning
M4203
0
Interface was assigned
1
Error code in W1022
1
Incorrect interface or incorrect transfer parameter
13
No connection
14
Interface already assigned or input/output not ready
17
Incorrect data transfer rate
20
Module was not called in a spawn job or submit job
W1022
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Data Transfer by PLC
10 – 43
Module 9101 Release data interface Module 9101 cancels the assignment of an interface to the PLC. The receive mode of the interface is canceled. Can only be called in a submit job or spawn job! Call: PS
CM
B/D/W/K 0: RS232 1: RS422 9101
Error recognition: Marker
Value
Meaning
M4203
0
Interface was released
1
Error code in W1022
W1022
1
Incorrect interface
14
Interface not assigned
20
Module was not called in a submit job or spawn job
Module 9102 Status of data interface Module 9102 reads the status information about an interface in bit-coded form. The information “interface ready” is updated when the interface is assigned to the PLC or NC. If the interface is not assigned, the module reads the last valid status. Call: PS
CM PL
B/W/D/K 0: RS232 1: RS422 9102 B/W/D -1: Error code in W1022 Bit 0: Interface is assigned Bit 1: Interface is assigned to PLC Bit 2: Interface is ready (see above) Bit 3: Transmit buffer is empty Bit 4: Error during transmission Bit 5: Receive buffer is full Bit 6: Error in reception Bit 7: ETX was received (not ready to receive) Bit 8: Internal buffer from Module 9113 still contains characters
Error recognition: Marker
Value
Meaning
M4203
0
Status read
1
Error code in W1022
1
Incorrect interface
W1022
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HEIDENHAIN Technical Manual iTNC 530
Module 9103 Transmit string through data interface You must first assign the interface to the PLC and initialize it with Module 9100. Module 9103 transmits a string from a string memory through one of the two interfaces. Links to the PLC error file and PLC dialog file are deleted. Can only be called in a submit job or spawn job! Call: PS
PS CM
B/W/D/K 0: RS232 1: RS422 K/B/W/D 9103
Error recognition: Marker
Value
Meaning
M4203
0
String was transmitted
W1022
September 2006
1
Error code in W1022
1
Incorrect interface or incorrect string number
12
No string end found
13
Interface not ready
14
Interface not assigned
15
Transmit buffer not empty
20
Module was not called in a spawn job or submit job
Data Transfer by PLC
10 – 45
Module 9104 Receive string through data interface You must first assign the interface to the PLC and initialize it with Module 9100. Module 9104 reads a string from the receive buffer of a serial interface in a string memory and resets the receive buffer. Can only be called in a submit job or spawn job! Call: PS
PS CM
B/W/D/K 0: RS232 1: RS422 K/B/W/D 9104
Error recognition:
10 – 46
Marker
Value
Meaning
M4203
0
String was received
1
Error code in W1022
W1022
1
Incorrect interface or incorrect string number
12
String too long
14
Interface not assigned
16
Receiving buffer empty
18
Transmission error or input/output not ready
20
Module was not called in a spawn job or submit job
HEIDENHAIN Technical Manual iTNC 530
Module 9105 Transmit binary data through data interface You must first assign the interface to the PLC and initialize it with Module 9100. Module 9105 transmits a block of binary values from the word memory of the PLC to one of the two interfaces. The transfer is in the form of ASCII-coded hexadecimal values. Every byte in the source block makes two ASCII characters at the interface. Can only be called in a submit job or spawn job! Call: PS
PS PS CM
B/W/D/K 0: RS232 1: RS422 K/B/W/D K/B/W/D 9105
Error recognition: Marker
Value
Meaning
M4203
0
Data was transmitted
1
Error code in W1022
1
Incorrect interface or incorrect byte number or block too long
4
Block outside value range
13
Interface not ready or no connection
14
Interface not assigned
15
Transmit buffer not empty
20
Module was not called in a submit job or spawn job
W1022
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10 – 47
Module 9106 Receive binary data through data interface You must first assign the interface to the PLC and initialize it with Module 9100. Module 9106 reads a block of binary values from one of the two interfaces to the word memory of the PLC. The transfer is in the form of ASCII-coded hexadecimal values. Every two ASCII characters from the serial interface make one byte in the binary block. The length of the read binary block is returned as the initial variable. Can only be called in a submit job or spawn job! Call: PS
PS CM PL
B/W/D/K 0: RS232 1: RS422 K/B/W/D 9106 B/W/D –1: Incorrect module call
Error recognition: Marker
Value
Meaning
M4203
0
Data was received
W1022
10 – 48
1
Error code in W1022
1
Incorrect interface or incorrect byte number or block too long
4
Block outside value range
11
Odd number of characters or illegal character
12
String too long
14
Interface not assigned
16
Receiving buffer empty
18
Transmission error or input/output not ready
20
Module was not called in a spawn job or submit job
HEIDENHAIN Technical Manual iTNC 530
Module 9107 Read from receiving buffer You must first assign the interface to the PLC and initialize it with Module 9100. Module 9107 reads two ASCII characters from the receive buffer to one of the two interfaces and codes them to a binary value. You can specify an offset that corresponds to the position of the byte to be read in a binary block read by Module 9106. The contents of the receiving buffer are retained and can be read by Modules 9104 and 9106. Can only be called in a submit job or spawn job! Call: PS
PS CM PL
B/W/D/K 0: RS232 1: RS422 B/W/D/K 9107 B/W/D
Error recognition: Marker
Value
Meaning
M4203
0
Receiving buffer was read
1
Error code in W1022
1
Incorrect interface or incorrect byte number
11
Illegal character
W1022
September 2006
12
String too long or offset too large
14
Interface not assigned
16
Receiving buffer empty
18
Transmission error or input/output not ready
20
Module was not called in a spawn job or submit job
Data Transfer by PLC
10 – 49
Module 9110 Transmit a message via LSV2 Module 9110 transmits a message (binary data or string) to a host computer connected by LSV2 protocol. The message is transmitted to the host by the LSV2 command “M_PC”. Call: PS
PS
CM PL
B/W/D/K 0: Binary data double word 1: String B/W/D/K With binary: Number of the double word With string: Number of the string 9110 B/W/D 0: Message is being transmitted 1: No connection to host 2: Transmit buffer full 3: Incorrect data type (not 0 or 1) 4: Incorrect source address
Error recognition: Marker
Value
Meaning
M4203
0
Message was transmitted
1
Error code in W1022
2
Incorrect data type
4
No double word address, or incorrect string number
11
String too long
13
No connection
15
Transmit buffer not empty
16
Receiving buffer empty
W1022
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HEIDENHAIN Technical Manual iTNC 530
Module 9111 Receive a message via LSV2 Module 9111 reads a message (double word or string) that has been received from a host computer connected by LSV2 protocol. The message must be transmitted from the host by the LSV2 command “M_PC”. Call: PS
PS
CM PL
B/W/D/K 0: Binary data double word 1: String B/W/D/K With binary: Number of the double word With string: Number of the string 9111 B/W/D 0: Message was read 1: No connection to host 2: No message of this type in receiving buffer 3: Incorrect data type (not 0 or 1) 4: Incorrect target address
Error recognition: Marker
Value
Meaning
M4203
0
Message was received
W1022
September 2006
1
Error code in W1022
2
Incorrect data type
4
No double word address, or incorrect string number
11
String too long
13
No connection
15
Transmit buffer not empty
16
Receiving buffer empty
Data Transfer by PLC
10 – 51
Module 9112 Transmit ASCII characters via data interface You must first assign the interface to the PLC and initialize it with Module 9100. Module 9112 transmits a single ASCII character. Note Set MP5030.x = 2 so that the transmitted characters do not disturb the set protocol procedure. Define the characters in at least one word so that the values to 255 can be recognized. Can only be called in a submit job or spawn job! Call: PS
PS CM
B/W/D/K 0: RS232 1: RS422 W/D/K 9112
Error recognition: Marker
Value
Meaning
M4203
0
Character was transmitted
1
Error code in W1022
W1022
10 – 52
1
Incorrect interface
13
Interface not ready or no connection
14
Interface not assigned
15
Transmit buffer not empty
20
Module was not called in a spawn job or submit job
HEIDENHAIN Technical Manual iTNC 530
Module 9113 Receive ASCII characters via data interface You must first assign the interface to the PLC and initialize it with Module 9100. Module 9113 reads a single ASCII character from the receiving buffer of a serial interface and resets the receiving buffer. If there is more than one character in the receiving buffer, the first is sent and the others are stored in a special buffer. You can interrogate the current state with Module 9102, bit 8. As long as data remains in the buffer, no further characters are collected from the interface. If MP5030.x < 2, the characters cannot be read from the interface until the line with the character requested in the protocol has been executed. Note Store the result in a word at least so that the values to 255 will be recognized. Can only be called in a submit job or spawn job! Call: PS
CM PL
B/W/D/K 0: RS232 1: RS422 9113 W/D
Error recognition: Marker
Value
Meaning
M4203
0
Character was received
1
Error code in W1022
1
Incorrect interface
12
String too long
W1022
September 2006
13
Interface not ready or no connection
14
Interface not assigned
16
Receiving buffer empty
18
Transmission error or input/output not ready
20
Module was not called in a spawn job or submit job
37
Receiver queue full
Data Transfer by PLC
10 – 53
10.11 External Programming Please remember the following when programming externally for subsequent transmission: At the program beginning and after every program block or must be programmed. After the End of Program block, and also must be programmed. For NC programs, the spaces can be omitted between the individual words. When reading in DIN blocks, the asterisk character (*) is not required at the end of the block. Comments are separated from the NC block with a semicolon (;). Comments located before the program are not saved. With conversational programming, the block numbers are generated by the iTNC. They need not be programmed.
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HEIDENHAIN Technical Manual iTNC 530
11 iTNC 530 with Windows 2000 11.1 General Information..................................................................... 11 – 3 11.2 Starting and Shutting Down the iTNC....................................... 11 – 7 11.2.1 User Logoff ............................................................................ 11 – 7 11.2.2 Exit Windows ......................................................................... 11 – 7 11.2.3 Setting Up the Manual Start of the Control Software ............ 11 – 8 11.3 The iTNC Control Panel ............................................................... 11 – 9 11.3.1 Functions .............................................................................. 11 – 9 11.3.2 Advanced Functions ............................................................ 11 – 11 11.4 Network Settings ....................................................................... 11 – 12 11.4.1 General Information ............................................................. 11 – 12 11.4.2 Windows Settings ............................................................... 11 – 14 11.5 Registered Users ........................................................................ 11 – 16 11.6 Software Installation on the Windows Computer .................. 11 – 19 11.6.1 HEIDENHAIN Software ....................................................... 11 – 19 11.6.2 Non-HEIDENHAIN software ................................................ 11 – 20 11.7 NC Software Exchange on the iTNC 530 with Windows 2000 11 – 22 11.8 Installing a Service Pack ............................................................ 11 – 29 11.9 Special Features of iTNC 530 with Windows 2000 ................. 11 – 29 11.9.1 Operation and User Interface .............................................. 11 – 29
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HEIDENHAIN Technical Manual iTNC 530
11 iTNC 530 with Windows 2000 11.1 General Information Note By commissioning the control, the end user accepts Microsoft’s licensing conditions, which are printed in the User’s Manual. When installing Window applications, please note the following: HEIDENHAIN offers no support for the installation of non-HEIDENHAIN software and cannot guarantee the function of Windows applications. HEIDENHAIN is not liable for faulty hard-disk contents that result from the installation of updates of non-HEIDENHAIN software or additional application software. If such changes in programs or data make service visits from HEIDENHAIN necessary, the service costs will be invoiced. Microsoft Service Packs and Patches Warning Service packs and patches from Microsoft may only be installed if they have been approved by HEIDENHAIN! HEIDENHAIN does not assume any liability for the compatibility of these service packs and patches with other installed Windows applications. As of software 340 480-12 and 340 481-12 Hard disks with Microsoft Windows 2000 and NC software 340 480-12 or 340 481-12 supplied by HEIDENHAIN include Microsoft Patches KB841533, KB840987, KB841356, KB834707, KB819696, KB839643, KB814078. The following changes were made to the Microsoft Windows 2000 installation: Automatic Windows updates were deactivated. The energy saver for the screen was deactivated. The Microsoft Java Virtual Machine (MSJVM) was removed. Note HEIDENHAIN recommends deactivating the screen’s energy saver for existing installations. If you already have a hard disk with older NC software versions, you can install these expansions at any time.
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General Information
11 – 3
Drives in PGM MGT
In PGM MGT of the iTNC 530 software, the Windows partition is available with the standard name C:\ as a connected network drive. Network drives connected with the Windows computer are shown with the drive letters defined under Windows. Access to drives with so-called UNC network names, such as \\PC0815\directory, is not possible. The NETWORK soft key no longer exists. Network drives must be connected and disconnected over the Windows Explorer. In such cases you must press the UPDATE TREE soft key in PGM MGT in order to refresh the view of the drives. The control partitions (TNC:, PLC: and SYS:) are not displayed with their Windows drive letters (D:, E: and F:). Warning The subdirectories \RECYCLER\ and \System Volume Information\ on the TNC and PLC partition are created by Windows and must not be deleted or changed. All drives connected with the Windows computer (including C:\) are treated by PGM MGT as connected network drives, i.e. during copying between these drives and the control partitions the data are converted from ASCII to binary format and vice versa. Warning During copying between network drives and the control partitions under Windows (D:, E: and F:) there is no ASCII to binary conversion. The copied files can become unusable and cause undefined behavior by the control. 8
In MP7225 you define the Windows drives that are not supposed to appear in the TNC file management (PGM MGT).
MP7225 Format: Input:
Serial interfaces
11 – 4
Disable Windows drives in the TNC file manager ABCDEFGHIJKLMNOPQRSTUVWXYZ If there is more than one drive, they are entered without spaces, e.g. MP7225 = CDE
The iTNC 530 (without Windows 2000) features two serial interfaces (X27: RS-232, X28: RS-422). On the iTNC 530 with Windows 2000, the serial interfaces are at connections X127 and X128 (instead of X27 and X28). X27 and X28 can only be used by Windows (X27: V.24; X28: V.11).
HEIDENHAIN Technical Manual iTNC 530
Hard disk
The hard disk of the iTNC 530 with Windows 2000 has the following partitions. The following sizes are valid for the partitions on hard disks for the iTNC 530 up to NC software 340 422-08: Partition
Windows designation
Contents
Size
C
C
Windows partition
8.29 GB
TNC
D
User files
8.29 GB
PLC
E
OEM files
998 MB
SYS
F
System files
998 MB
The remaining memory is free. The following sizes are valid for the partitions on hard disks for the iTNC 530 with Windows 200 that were delivered with NC software 340 422-09 or higher. Partition
Windows designation
Contents
Size
C
C
Windows partition
13 GB
TNC
D
User files
13 GB
PLC
E
OEM files
1 GB
SYS
F
System files
1 GB
The partitions of the hard disk can be displayed through Start/Settings/ Control Panel/Administrative Tools/Computer Management/Storage/ Disk Management. System time
The HeROS CPU of the iTNC 530 with Windows 2000 internally uses UNIX system time. The time difference between the local time and the system time is taken from the Windows CPU. Therefore MP7235 has no function on the iTNC 530 with Windows 2000.
Processor temperature
Module 9133 is used to determine the temperature of the second processor (see “Temperature of the MC 42x(B)” on page 6 – 249).
September 2006
General Information
11 – 5
Set PLC output after shutdown
The automatic setting of a PLC output after a control has been shutdown (MP4040 to MP4042) is not possible on the iTNC 530 with Windows 2000.
Operation
Both the Windows key and the ALT+TAB key combination remove the focus from the current Windows application (which could be the iTNC 530 software). If the focus is removed from the iTNC 530 software, the last keys pressed (such as soft keys) remain active. If the focus returns to the iTNC 530 software, the activation can be undone. In general, the usual Windows operating properties are valid for the iTNC 530 software!
Setting the Windows language
11 – 6
Hard disks that are shipped as of NC software 340 480-06 support the Windows 2000 MultiLanguage version. In the version you can select the language of the operating system under Start/Settings/Control Panel/ Regional Settings. This new function cannot be retrofitted.
HEIDENHAIN Technical Manual iTNC 530
11.2 Starting and Shutting Down the iTNC After the user logs on, the control software starts automatically. In the iTNC Control Panel the message Starting appears. Do not operate any Windows programs while this message is displayed. After the control software starts up, the iTNC Control Panel minimizes to a symbol in the status line. The control software is shut down with the "Shutdown" soft key; in special cases also through the “iTNC Control Panel.” 11.2.1 User Logoff A Windows user can log off at any time without impairing the iTNC 530 software. In this case the control screen is no longer visible and the user cannot make any entries. Warning Keys that are evaluated by the PLC, such as axis direction keys, remain active. After the user logs on again, the control screen reappears and entries can be made again. 11.2.2 Exit Windows If you attempt to shut down or restart Windows after the control software is started, a message appears.
No aborts the process, and neither Windows nor the control software are shut down. If you want to shut down the control software and Windows, you must first select EMERGENCY OFF and then Yes. It is not possible to restart Windows with this method.
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Starting and Shutting Down the iTNC
11 – 7
11.2.3 Setting Up the Manual Start of the Control Software Starting the iTNC Control Panel can be set from “automatic” to “manual.” To do so, under Start/Settings/Control Panel/Administrative Tools/ Services/iTNC530 Control Panel/Properties/Startup Type, switch from automatic to manual. Then the control software can only be started through Start/Programs/ iTNC530/iTNC530 Start. Note A user with limited rights (e.g. TNC) might not be authorized to start the control software.
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HEIDENHAIN Technical Manual iTNC 530
11.3 The iTNC Control Panel
The iTNC Control Panel appears after the user has logged on until the control software has been started. It can be called later at any time by double-clicking the symbol in the status display.
The iTNC Control Panel should not normally be used. The control software starts automatically when the user logs on to Windows. The control software and Windows are shut down with the “Shutdown” soft key. The use of the iTNC Control Panel should be limited to servicing for initial operation, troubleshooting, software exchange, and installation of additional Windows software. 11.3.1 Functions The iTNC Control Panel offers the following functions: Status text field: This text field displays the condition of the control software: • Stopped: The control software is not running. • Starting: The control software is being started. • Running: The control software is running. • Aborting: The control software is being shut down. • Shut down iTNC: The control software is being shut down and the iTNC Control Panel closed. • Shut down iTNC and Windows: The control software and Windows are being shut down. • Restarting: The control software is being started again. • Error: : A control software error has occurred. Inform your service agency.
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The iTNC Control Panel
11 – 9
Stop iTNC button: This button shuts down the control software. Open files are saved, the drives are switched off, and the PLC outputs are reset. The EMERGENCY STOP button must be pressed before clicking this button. ReStart iTNC button: If the control software is running, this button runs the Stop iTNC function and then restarts the software. The EMERGENCY STOP button must be pressed before clicking this button. Shut Down button: This button calls a message window with the question of whether the control software should be shut down:
• No: The control software will not be shut down. • If you want to shut down the control software, you must first select EMERGENCY OFF and then Yes. Another message window appears, asking whether Windows should also be shut down:
• No: Only the control software will be shut down. Windows will not be shut down • Yes: First the control software is shut down, and then Windows.
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HEIDENHAIN Technical Manual iTNC 530
11.3.2 Advanced Functions Clicking the More >> button opens additional functions of the iTNC Control Panel.
Debug Proc.: This text box is reserved for HEIDENHAIN. HeROS Admin button: This button is reserved for HEIDENHAIN. Win Admin button: This button opens a text window for entering the current HEIDENHAIN system password. If the entry is correct, a text window opens with administrator rights. This enables HEIDENHAIN to grant administrator rights without disclosing the corresponding password. NC Output button: This button is reserved for HEIDENHAIN. F4, F5, F6 buttons: These buttons have no function at present.
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The iTNC Control Panel
11 – 11
11.4 Network Settings 11.4.1 General Information The basis for the iTNC 530 with Windows 2000 is the MC 422(B) with two processors. One processor handles the real-time tasks with the HEIDENHAIN HeROS operating system. The second processor is dedicated to Windows 2000. The two operating systems (HeROS und Windows) communicate over TCP/ IP. For this communication, HEIDENHAIN uses two fixed IP addresses (Subnet-Mask: 255.255.255.0): 192.168.254.253: IP address of the Windows computer 192 168 254 254: IP address of the HeROS computer The HeROS real-time operating system tests cyclically within 5 seconds whether a connection to the iTNC application exists under Windows, whether the file system can be accessed, and whether the X server for the display and keyboard is functioning. If one of these tests is impossible for more than 5 seconds, M4600 is set. M4600 is reset when all tests are possible again. If one test is impossible for more than 10 seconds, the control is shut down.
M4600
Faulty internal communication between HeROS and Windows 2000
Set
Reset
NC
NC
A proxy server is installed during installation of the iTNC 530 software under Windows. This proxy server ensures that incoming LSV2 commands are forwarded to the HeROS operating system.
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HEIDENHAIN Technical Manual iTNC 530
The proxy server forwards a received LSV2 command to the IP address 192.168.254.254 of the HeROS computer and saves the IP address of the sender. After HeROS processes the command, the answer is sent to the proxy server over the IP address 192.168.254.253. The proxy server then forwards the answer to the saved IP address of the sender.
iTNC 530 with Windows 2000 HeROS 192.168.254.254
iTNC Internal Connection Windows 192.168.254.253 Proxy Local Area Connection xxx.xxx.xxx.xxx LSV2 protocol
PC (e.g. Explorer)
September 2006
Windows network
Network Settings
PC (e.g. TNCremoNT)
11 – 13
11.4.2 Windows Settings Two network adapters are integrated in Windows: Local Area Connection: Connection of the Windows computer to the Windows network iTNC Internal Connection: Connection between HeROS and Windows computer Start/Settings/Network and Dial-up Connections displays an overview of the network connections:
Ask your network specialists for the network settings in your company network. Note Administrator rights are required for all network settings!
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HEIDENHAIN Technical Manual iTNC 530
The following figure shows the network settings for the connection between Windows and the HeROS computer.
Warning These network settings should not be changed! If the IP address 192.168.254.253 and the subnet mask 255.255.255.0 collide with the Windows network, in this exceptional case the IP address can be changed. The HeROS CPU is automatically given an IP address greater by 1 (e.g., if the Windows CPU is 192.168.254.253, then the HeROS CPU is 192.168.254.254). The new IP address should also be a reserved IP address in the Internet. Reserved addresses in the Internet are: 10.0.0.0 to 10.255.255.255 172.16.0.0. to 172.16.255.255 192.168.0.0 to 192.168.255.255 There must be no “routing” between the two networks (“iTNC Internal Connection” and “Local Area Connection”). Warning Windows must be restarted for a changed IP address of the iTNC Internal Connection to go into effect.
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Network Settings
11 – 15
11.5 Registered Users Under Windows 2000, the following users are already registered by HEIDENHAIN: User name
Password
User group
Editable
Description
Guest
(no password)
Guests
Yes, can also be User entered by Windows. deleted Deactivated in default setting of iTNC 530.
TNC
(no password)
Users
Yes, can also be Example user for the end deleted customera
TNCP
SYS095148
Power Users
Yes, can also be Example user for the end deleted customera
OEM
SYS807667
Administrators
Yes, password can be changed
Administrator for the machine tool builder
Administrator (not disclosed here)
Administrators
No
Only for HEIDENHAIN Serviceb
SYS_TNC
Administrators
No
User for access by the HeROS computer to the Windows computerc
a. The end user must not be assigned to the Administrators’ group because otherwise he would have access through Windows to the PLC and SYS partition. b. The Administrator must not be changed because otherwise HEIDENHAIN cannot offer any service. c. The user SYS_TNC must not be changed because otherwise the control will not operate. Note Pay attention to capitalization when entering the password. The Windows Help contains general information about user groups. If the control is not in a domain, then under Windows 2000 you can enter users who will be logged on automatically. Please refer to the online help of Windows 2000.
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HEIDENHAIN Technical Manual iTNC 530
Note for administrators
All administrators have access from Windows to the TNC, PLC and SYS partition (drives D:, E: and F:). Some of the data on these drives is in binary format. Warning During writing or copying processes from Windows to the control partitions there is no ASCII-to-binary conversion. The copied files can become unusable and cause undefined behavior by the control. The “administrators” and “SYSTEM” user groups have access to the control partitions (D:, E: and F:). This is required for correct operation of the control. Therefore: Access for these user groups must not be limited. No other user groups can be added. Specific access types within the user groups cannot be prohibited.
September 2006
Registered Users
11 – 17
✎
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HEIDENHAIN Technical Manual iTNC 530
11.6 Software Installation on the Windows Computer 11.6.1 HEIDENHAIN Software If HEIDENHAIN software is installed on the Windows computer that communicates with the HeROS computer over LSV2 (e.g. TNCopt), the IP address of the HeROS computer is to be defined as 127.0.0.1 (loopback interface). With this special IP address, the software sets up a connection with its own Windows computer. The proxy server forwards the LSV2 commands to the HeROS computer and sends back the answers from the HeROS computer. An alternative to this IP address is the address of the HeROS computer. However, this can cause problems, for example due to address conflicts, if this IP address has to be changed (see “Windows Settings” on page 11 – 14).
iTNC 530 with Windows 2000
HeROS
192.168.254.254
192.168.254.253
Windows HEIDENHAIN Software (e.g. TNCopt) 127.0.0.1
Proxy
xxx.xxx.xxx.xxx
Windows network
September 2006
Software Installation on the Windows Computer
11 – 19
11.6.2 Non-HEIDENHAIN software To install non-HEIDENHAIN software on the Window computer, you need administrator rights (e.g. user name: OEM). Because the HeROS computer accesses the hard disk on the Windows computer and the iTNC user interface runs on the Windows computer, adequate system resources must be available at all times on the Windows computer. CPU power Main memory Faster access to the hard disk Brief interruptions in the availability of these resources are compensated by the HeROS computer through an “NC data buffer.” Interruptions longer than these can influence the HeROS computer, which in the worst case can cause feed-rate interruptions during execution of an NC program. The software to be installed: Must not place demands on the Window computer approaching the limits (128 MB RAM, AMD K6/2 with 266 MHz). Must not be run in the following Windows priority stages: • Above normal • High • Real time The Windows priority stage can be checked in the Windows Task Manager on the Processes tab in the Base Priority column. Starting the Windows Task Manager: 8
Click with the right mouse key on a free area of the taskbar
8
Click Task Manager... Note Special care must be taken when installing virus scanners, since they are very compute-intensive. A virus scanner should only be started if nothing is currently being machined! In addition, the virus scanner is not permitted to install a monitor on the “iTNC Internal Connection” network connection. I.e., network data coming in over this connection is not allowed to be checked!
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HEIDENHAIN Technical Manual iTNC 530
To check whether a non-HEIDENHAIN program could cause problems: 8
Start an NC program with 3-D movements that fully exploit the power of the iTNC
8
Use the integrated oscilloscope to record the contouring feed rate.
8
Start the program in question on the Windows computer
8
Run the program’s most resource-intensive operations Note If you have interruptions in the contouring feed rate, the non-HEIDENHAIN software should not be used on the Windows computer.
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Software Installation on the Windows Computer
11 – 21
11.7 NC Software Exchange on the iTNC 530 with Windows 2000 Soft key
Function Convert the files on the hard disk from binary format to ASCII format and save nonvolatile markers in the PLCMEM.A file. Convert the files on the hard disk from ASCII format to binary format and save nonvolatile markers in the PLCMEM.A file. Copy cutting-data tables, tables for tilting-axis geometry, and table of M-function macros from the SYS partition into the corresponding directories of the TNC or PLC partition, and create prototypes of the tables.
Note The NC software must be exchanged only by trained personnel. To enable the user to exchange the NC software, HEIDENHAIN accompanies it with setup software that is installed under Windows. Information about the cycles
Keep the following information in mind when you use OEM cycles in the HEIDENHAIN cycle tree instead of in an OEM cycle tree: Change the OEM cycles into binary format before reconversion, otherwise the iTNC will not recognize these cycles, and will add ERROR blocks to the NC programs. These ERROR blocks must be deleted manually. After an NC software exchange, to be able to use the latest HEIDENHAIN cycles together with your existing customized cycles, you will need the PC software CycleDesign to insert the new cycles in your *.CDF file. The new *.CDF file and the appropriate CONSTCYC.CDC for the HEIDENHAIN cycles are still in the folder PLC:\JH\ on the control after the NC software exchange. You can find more information in the User’s Manual or in the Help for CycleDesign.
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HEIDENHAIN Technical Manual iTNC 530
Procedure for exchanging the NC software up to and including 340 422-12
The iTNC 530 software can be installed only by a user with local administrator rights (e.g., user name: OEM).
Warning All messages that differ from the description below indicate problems in the installation. In this case, inform your service agency. 8
While in the Programming and Editing operating mode, press the MOD key.
8
Enter the code number 95148 and confirm your entry with the ENT key.
8
While in the Machine-parameter programming mode, press the MOD key.
8
Press the UPDATE DATA soft key.
8
The name and path of a log file can be entered after Path = in the header.
8
Press the BIN → ASC soft key to convert the files on the hard disk from binary to ASCII format.
Equivalent file name extensions in binary and ASCII format .H
.H%
.I
.I%
.T
.T%
.TCH
.TC%
.D
.D%
.P
.P%
.PNT
.PN%
.COM
.CO%
.CMA
.CM%
8
Click the Shut Down button in the iTNC Control Panel. Click the No button on the question of whether Windows should also be shut down.
8
Start the setup.exe of the new iTNC 530 software, e.g. through Start/Run/
8
You may receive the following message after Setup.exe has started. Click the Yes button.
Then the installation wizard starts the installation.
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NC Software Exchange on the iTNC 530 with Windows 2000
11 – 23
After the installation, Windows must be restarted. 8
Click the Finish button.
8
Log on again with the user name under which the installation of the iTNC 530 software was started (e.g. OEM)
The control software starts automatically.
11 – 24
8
If required, complete or delete the machine parameters.
8
While in the Programming and Editing operating mode, press the MOD key.
8
Enter the code number 95148 and confirm your entry with the ENT key.
8
While in the Machine-parameter programming mode, press the MOD key.
8
Press the UPDATE DATA soft key.
8
Press the ASC → BIN soft key to reconvert the files on the hard disk from ASCII format into binary format.
8
Read-in files which you had saved to a PC.
8
The NC software exchange is completed.
8
With the COPY SAMPLE FILES soft key, the HEIDENHAIN standard tables for cutting data, the tilting-axis geometry, and the M-function macros can be copied into the corresponding directories.
HEIDENHAIN Technical Manual iTNC 530
Procedure for exchanging the NC software if SW 340 492-01 or SW 340 493-01 is already installed
The iTNC 530 software can be installed only by a user with local administrator rights (e.g., user name: OEM).
Warning All messages that differ from the description below indicate problems in the installation. In this case, inform your service agency. 8
Use the PC program TNCremoNT from HEIDENHAIN to make a backup of the control software.
8
Start the setup.exe of the new iTNC 530 software, e.g. through Start/Run/
8
You may receive a similar message after Setup.exe has started. Click the Yes button.
Then the installation wizard starts the installation. After the installation, Windows must be restarted. 8
September 2006
Click the Finish button.
NC Software Exchange on the iTNC 530 with Windows 2000
11 – 25
Note Service packs are also loaded in this manner. Stopping the NC software via the Control Panel is not necessary in the new update procedure. Binary-ASCII conversion is no longer necessary, as this is now requested and performed internally by the update procedure. 8
Log on again with the user name under which the installation of the iTNC 530 software was started (e.g. OEM)
The control software starts automatically.
Automated update
8
If required, complete or delete the machine parameters.
8
Read-in files which you had saved to a PC.
8
The NC software exchange is completed.
8
With the COPY SAMPLE FILES soft key, the HEIDENHAIN standard tables for cutting data, the tilting-axis geometry, and the M-function macros can be copied into the corresponding directories.
If one of the following directories exists when an iTNC with Windows is booted, - D:\install\ (D: corresponds to the TNC partition) or, if a USB memory device is connected - G:\install\ (G: corresponds to the drive letter of the USB memory device – network drives are not permitted!) and if a setup.ini control file is saved in this directory, then an automated update is performed according to the instructions in this control file (see “Automated update (setup.ini)” on page 2 – 50). If this file does not exist, the update must be started manually via the SETUP keyword. An automated update is usually a part of a manual update.
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HEIDENHAIN Technical Manual iTNC 530
Entries in the log file
If errors occur during conversion, the TNC will display error messages and record them in the log file. During the NC software switch, the name and path of a log file can be entered in the header after Path =; the extension .A must be used. If no entry is made in this line, the file TNC:\CVREPORT.A is created. Each error message contains Error message Error number Error cause File concerned Example: ================================================== ERROR
:REMANENT PLC DATA NOT RESTORED
ERRNO
:2
ERROR MESSAGE
:Program name not found
FILE
:PLCMEM.A
==================================================
September 2006
Error message
Meaning
CANNOT OPEN DIRECTORY
File could not be opened
REMANENT PLC DATA NOT RESTORED
No access to the file PLCMEM.A
NOT ENOUGH SPACE
Too little free memory on the hard disk
CONVERSION BIN ASC FAILED
A binary file has an incorrect format (e.g., binary format from an old NC software)
CONVERSION ASC BIN FAILED
An ASCII file on the hard disk is incorrect
NC Software Exchange on the iTNC 530 with Windows 2000
11 – 27
✎
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HEIDENHAIN Technical Manual iTNC 530
11.8 Installing a Service Pack 11.9 Special Features of iTNC 530 with Windows 2000 11.9.1 Operation and User Interface Controlling Windows windows
The iTNC offers the possibility in Windows of bringing the windows of active programs to the foreground or minimizing them. This can be necessary, for example, if the user is to pay attention to a specific program. In order to influence the visibility of Windows windows, proceed as follows: 8
Use PLC Module 9317 to determine the Windows title of the Windows program in the foreground at the time of the interrogation (name of the application in the title bar of the window).
8
Use PLC Module 9316 to interrogate the relevant status before changing a Windows window.
8
Use PLC Module 9315 to change the status of the desired Windows window (minimize or bring to the foreground).
In order to bring a Windows application to the foreground, the user-specific Windows system parameter “ForegroundLockTimeout” must be set to 0 (default: 200000). Otherwise the activation of the window is signaled only by a blinking of its icon in the task bar. The system parameter is automatically set by a program in the Startup folder for the iTNC 530 with Windows 2000. The system parameter is not automatically changed on the programming station. Here there are two shortcuts in the Start menu, with which the parameter can be set to 0 (ON) or the default value 200000 (OFF).
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Installing a Service Pack
11 – 29
Module 9317 Determining a Windows window title Module 9317 is used to determine the title of the Windows window in the foreground at the time of the request. Call: PS PS CM
B/W/D/K 0: Title of the Windows window in the foreground B/W/D/K 9317
Error recognition: Marker
Value
Meaning
M4203
0
Windows window title determined
1
Error code in W1022
1
Invalid mode programmed
W1022
3
Invalid PLC string address was programmed
20
Call was not in a submit or spawn job
52
Single-processor control, title interrogation not possible
Module 9316 Status interrogation of a Windows window The current status of a Windows window can be interrogated with Module 9316. Call: PS PS CM PL
B/W/D/K 0: Window status B/W/D/K/S 9316 B/W/D Bit 0: Window in foreground Bit 1: Window minimized
Error recognition: Marker
Value
Meaning
M4203
0
Windows window status determined
1
Error code in W1022
W1022
11 – 30
1
Invalid mode programmed
2
Window with this title does not exist
3
Invalid PLC string address was programmed
11
Invalid string programmed for window title
20
Call was not in a submit or spawn job
52
Single-processor control, status interrogation not possible
HEIDENHAIN Technical Manual iTNC 530
Module 9315 Bring a Windows window to the front or minimize it Module 9315 is used on the iTNC 530 with Windows 2000 and on the programming station to bring the window of a Windows application from the PLC to the foreground and make it active, or to minimize it. In the module call you enter the title of the window that is to be brought to the foreground. Uppercase and lowercase are ignored in the given window title, as well as any leading or trailing blank spaces. Call: PS
PS CM
B/W/D/K 0: Bring window to the foreground 1: Minimize window B/W/D/K/S 9315
Error recognition: Marker
Value
Meaning
M4203
0
Windows window activated / minimized
1
Error code in W1022
W1022
September 2006
1
Invalid mode programmed
2
Window with this title does not exist
3
Invalid PLC string address was programmed
11
Invalid string programmed for window title
20
Call was not in a submit or spawn job
52
Single-processor control, switch-over not possible
Special Features of iTNC 530 with Windows 2000
11 – 31
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HEIDENHAIN Technical Manual iTNC 530
12 Error Messages 12.1 DSP Error Messages..................................................................... 12 – 3 12.2 iTNC Error Messages during Data Transfer ............................. 12 – 46 12.3 Error Messages of the File System........................................... 12 – 47
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12 – 1
12 – 2
HEIDENHAIN Technical Manual iTNC 530
12 Error Messages 12.1 DSP Error Messages Error message
Cause
Corrective action
As of NC SW
8010 Error in LSV2 transfer
Error in data transfer by LSV2 protocol.
Press the CE key to acknowledge the error. Error does not impair the control functions. Inform your service agency.
340 420-01, 340 422-01, 340 480-02
8040 Heat-sink temp. in UV 1xx
Temperature of UV 1xx Stop the machine and let it power supply unit’s heat cool down. sink too high. Continue working with lower If the heat-sink power (reduce the feed rate). temperature continues to increase, the unit will be switched off.
340 420-01, 340 422-01, 340 480-02
8041 Excessive Iz in UV 1xx
DC-link current of UV 1xx too high.
Continue working with lower power (reduce the feed rate).
340 420-01, 340 422-01, 340 480-02
8042 Leakage current in UV 1xx
Isolation problem (e.g. defective motor).
Inform your service agency. • Check the motor. • Check the wiring.
340 420-01, 340 422-01, 340 480-02 to 340 420-08, to 340 422-02, to 340 480-02
8043 No inverterready signal
Readiness signal of the inverter (supply unit) is inactive after the feedback control starts. Master contactor has opened. Error in PLC program. Inverter defective.
Try restarting the inverter. If the error recurs: Inform your service agency. • Check the wiring (master contactor). • PLC program, checking • Exchange the inverter (supply unit).
340 420-06, 340 422-01, 340 480-02
8060 Leakage current in UV 1xx
Isolation problem (e.g. defective motor).
Inform your service agency. • Check the motor. • Check the wiring.
340 420-09, 340 422-03, 340 480-03
8080 Uz of UV 1xx too high
Excessive DC-link voltage of the power supply unit.
Inform your service agency. • Check the machine parameter for braking of the spindle. • If required, check the braking resistor. • Exchange the power supply unit.
340 420-01, 340 422-01, 340 480-02
September 2006
DSP Error Messages
12 – 3
Error message
Cause
Corrective action
As of NC SW
8086 Probing already active
An internal software error has occurred.
Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
8092 Pos. contr. cyc. time error
MC is outputting Inform your service agency. erroneous cycle time for • Check machine CC position controller. parameter MP7600.x. A hardware error has • Exchange drive control occurred. board.
340 420-01, 340 422-01, 340 480-02
8130 IS DIR in motor table OK?
DIR in motor table may be incorrect.
Change DIR in motor table.
340 420-01
8130 Wrong Entry in column DIR of rotational directn. the motor table incorrect. Error in wiring.
Inform your service agency. • Change DIR in motor table. • Check the wiring.
340 420-02
340 420-07, 340 422-01, 340 480-02
8130 Motor brake defective
Motor brake defective.
Inform your service agency. • Check controls for motor brakes. • Exchange motor.
8140 Error field orientation
Field orientation impossible for mechanical reasons. Incorrect relation between electrical field and mechanical motor movement. Error in motor encoder signal. Error in motor connection. Mechanical brake not released.
Inform your service agency. 340 420-01, • Check the machine 340 422-01, parameters for number of 340 480-02 signal periods and distance for the number of signal periods. • Check the machine parameter for the linear distance of one motor revolution. • For linear motors: check column STR of the motor table. • Check the speed encoder connection. • Check the motor connection. • Release brakes during orientation.
8300 Motor brake defective
Motor brake defective.
Traverse the axis to a safe position before power-off. Inform your service agency. • Check controls for motor brakes. • Exchange motor.
12 – 4
340 420-11, 340 422-09, 340 480-09
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
8310 No current in brake test
Motor connected incorrectly. Inverter connected incorrectly. Inverter defective. Motor defective.
Inform your service agency. 340 420-11, • Check the wiring of motor 340 422-09, and inverter. 340 480-09 • Check the inverter. • Check the motor.
8400 No drive-on command for
Speed controller waiting PLC program, checking for drive-on command; Inform your service agency. PLC has sent no drive-on • Check software version. command.
340 420-01, 340 422-01, 340 480-02, to 340 420-08, to 340 422-02, to 340 422-02
8410 I2T value is too high
The load of the drive is Reduce load or duration. too high for the duration. Inform your service agency. • Check the motor table (columns I-N, T-DC, F-DC, T-AC, F-AC). • Check the power module table (columns I-N, I-NDC, T-DC, F-DC, T-AC, FAC). • Check the machine parameter for reference value for I2t monitoring. • Check the ratio of I-N (motor) to I-N (power module).
340 420-01, 340 422-01, only 340 480-02, to 340 420-08, to 340 422-02
8430 Load is too high
Drive has maximum current and cannot increase acceleration. Excessive load (torque, power) on the drive.
340 420-01, 340 422-01, 340 480-02, to 340 420-08, to 340 422-03, to 340 480-03
8440 Field orient. successful
Field orientation Acknowledge the message successfully completed. with CE.
September 2006
Reduce load. Inform your service agency. • Check the motor table (column I-MAX). • Check the check the power module table (column I-MAX). • Check the machine parameters for maximum braking power, power limiting and maximum torque. • Check the ratio of I-N (motor) to I-N (power module).
DSP Error Messages
As of NC SW
340 420-01, 340 422-01, 340 480-02
12 – 5
Error message
Cause
8450 I2T value of motor is too high
The load of the motor is Reduce the load or the too high over the duration. duration. Check motor table and machine parameters. Check whether the motor is designed for the load. Inform your service agency.
340 420-07, 340 422-01, 340 480-02, to 340 420-08, to 340 422-02, to 340 480-02
8460 I2T value of power module is too high
The load of the power module is too high over the duration.
340 420-07, 340 422-01, 340 480-02, to 340 420-08, to 340 422-03, to 340 480-03
8600 No drive-on command for
Speed controller waiting Inform your service agency. for drive-on command; • PLC program, checking PLC has sent no drive-on • Check software version. command.
340 420-09, 340 422-03, 340 480-03
8610 I2T value is too high
The load of the drive is Reduce the load or the too high for the duration. duration. Inform your service agency. • Check motor table, power module table and machine parameters. • Check whether the motor and power module are designed for the load.
340 420-09, to 340 420-10, 340 422-03, to 340 422-05, 340 480-03, to 340 480-05
8610 I2T value is too high
340 420-11, The load of the drive is Reduce the load or the 340 422-06, too high for the duration. duration. Inform your service agency. 340 480-06 • Check motor table, power module table and machine parameters. • Check whether the motor and power module are designed for the load.
12 – 6
Corrective action
Reduce the load or the duration. Check motor table and machine parameters. Check whether the power module is designed for the load. Inform your service agency.
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HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
8620 Load is too high
Drive has maximum current and cannot increase acceleration. Excessive load (torque, power) on the drive.
Reduce the load on the drive. 340 420-09, Inform your service agency. 340 422-03, • Check motor table, power 340 480-03 module table and machine parameters. • Check whether the motor and power module are designed for the load.
8640 I2T value of motor is too high
The load of the motor is Reduce the load or the 340 420-09, too high over the duration. 340 422-03, duration. Inform your service agency. 340 480-03 • Check the motor table and machine parameters. • Check whether the motor is designed for the load.
8650 I2T value of power module is too high
The load of the power module is too high over the duration.
Reduce the load or the 340 420-09, duration. 340 422-03, Inform your service agency. 340 480-03 • Check the power module table and machine parameters. • Check whether the power module is designed for the load.
8800 Signal LT-RDY inactive
Inverter switch-off during closed-loop control of a vertical axis (cause = vertical axis).
Inform your service agency. • PLC program, checking • Check the wiring of the inverter.
340 420-01, 340 422-01, 340 480-02
8810 Signal LT-RDY inactive
Inverter switch-off during closed-loop control of a vertical axis (cause = vertical axis).
Inform your service agency. • PLC program, checking • Check the wiring of the inverter.
340 420-01, 340 422-01, 340 480-02
8820 Field angle unknown
Field angle of the motor Inform your service agency. on the reference point of • Orient the field. the speed encoder has • Check the motor table not yet been (column SYS). ascertained.
340 420-01, 340 422-01, 340 480-02
September 2006
DSP Error Messages
As of NC SW
12 – 7
Error message
Cause
8830 EnDat: No field angle
Field angle of the motor Inform your service agency. with unaligned speed • Orient the field. encoder with EnDat • Check the motor table interface was not (column SYS). ascertained. The transferred EnDat serial number does not match the stored EnDat serial number.
340 420-01, 340 422-01, 340 480-02
8840 Axis not available
Starting command for unavailable axis.
Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
8850 Drive still active
Position definition Inform your service agency. (Z1 track, EnDat • Check software version. interface) was started, although drive still active (orientation).
340 420-01, 340 422-01, 340 480-02
8860 Input frequency from speed encoder
Noise on speed encoder Inform your service agency. signals • Check encoder signals. • Check shielding.
340 420-11, 340 422-06, 340 480-06
8870 Input frequency from position encoder
Noise on position encoder signals
Inform your service agency. • Check encoder signals. • Check shielding.
340 420-11, 340 422-06, 340 480-06
8880 No enabling while field angle is being found
Enabling is rescinded for Inform your service agency. the duration of the field• Check PLC program angle determination (most common cause) (e.g. PLC program, emergency stop, X150/ X151, monitoring function)
340 420-11, 340 422-06, 340 480-06
8A00 No inverter enabling
Power-on of the drive not possible due to missing enabling of the inverter via –SH1
Inform your service agency. • Check the wiring.
340 420-11, 340 422-06, 340 480-06
Inform your service agency. 8A10 AC fail Power-on of the drive not possible, because an • Check the wiring of the AC-fail signal (power power supply. supply) is active. • Test the power supply.
340 420-11, 340 422-06, 340 480-06
12 – 8
Corrective action
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HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
As of NC SW
8A20 Powerfail
Power-on of the drive not possible, because a powerfail signal (power supply) is active.
Inform your service agency. • Check the wiring of the power supply. • Test the power supply.
340 420-11, 340 422-06, 340 480-06
8A30 Drive enabling (I32)
Power-on of the drive not possible due to missing drive enabling via I32
Inform your service agency. • Check the wiring of the emergency-stop loop.
340 420-11, 340 422-06, 340 480-06
8A40 Enabling of axis group
Power-on of the drive not possible due to missing drive enabling for axis groups (X150/ X151)
Inform your service agency. 340 420-11, • Check the connection at 340 422-06, X150/X151. 340 480-06 • Check the wiring of X150/ X151. • Check MP2040.x.
8A50 Inverter not ready
Power-on of the drive Inform your service agency. not possible, because an • Check the Ready LED of inverter is not ready the inverter. (RDY signal). • Check the wiring of the inverter. • On interface PCBs for Siemens inverters, the second axis is not enabled.
8A60 Field angle incorrect
Power-on of the drive not possible due to missing field-angle information
Inform your service agency. 340 420-11, • Check the entries in the 340 422-06, motor table (encoder). 340 480-06 • Ascertain the field angle if necessary.
8A80 Error ack. missing
Power-on of the drive not possible due to a missing error acknowledgment
Press and release the 340 420-11, emergency stop button. 340 422-06, Switch on the machine control 340 480-06 voltage. Inform your service agency. • Check the emergencystop wiring.
September 2006
DSP Error Messages
340 420-11, 340 422-06, 340 480-06
12 – 9
Error message
Cause
8A90 Safety module
Not a safety-oriented Inform your service agency. 340 420-11, control: • Safety module is only 340 422-06, • Power-on of the connected to CC: 340 480-06 drive not possible • Wire the external drive due to disabling of enabling via the the safety module. corresponding input on • Power-off of the the safety module (apply drive by rescinding 24 V) the external drive • Safety modules are enabling at the connected to MC and CC: safety-module input • All drives: • Safety module • Check protective-door defective function. (exchange) • Release the emergency stop. Safety-oriented control: • Only spindle drive: • Power-on of the • Check (close) tool drive not possible clamper. due to the operating • Check permissive button. state of the • Check setting of keylock machine. switch. • Drive was powered• Exchange safety off due to a change module(s). to an impermissible operating state of the machine.
8AA0 Illegal reference run
A touch-probe cycle is Inform your service agency. active while a reference • Check software version. value is requested. Internal software error.
340 420-11, 340 422-09, 340 480-09
8AB0 Illegal probing
Referencing is active while a touch-probe cycle is started. Internal software error.
340 420-11, 340 422-09, 340 480-09
8AF0 Encoder defective
Contamination of the Inform your service agency. 340 420-10, position encoder • Exchange position 340 422-03, Encoder cable defective encoder 340 480-03 Motor control board • Check encoder cable defective. • Exchange the motor drive control board.
12 – 10
Corrective action
Inform your service agency. • Check software version.
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HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
8B00 Zn track error
Contamination of the motor encoder (Zn track). Motor encoder cable is defective. Motor control board defective.
Inform your service agency. • Exchange the motor.
As of NC SW
340 420-01, 340 422-01, • Check the motor encoder 340 480-02 cable. • Exchange the motor drive control board.
8B10 Wrong traverse direction
DIR entry in motor table Inform your service agency. 340 420-01, is incorrect. • Check the DIR entry in the 340 422-01, Incorrect motor power motor table. 340 480-02 connection. • Check the motor power connection.
8B20 Error field orientation
Field orientation impossible for mechanical reasons. Incorrect relation between electrical field and mechanical motor movement. Error in motor encoder signal. Error in motor connection. Mechanical brake not released.
8B30 Motor temp. too high
340 420-01, Measured motor Let the motor cool down. 340 422-01, temperature too high. Inform your service agency. No temperature sensor. • Check the motor encoder 340 480-02 cable. Motor encoder cable is • Check the entry in the defective (wire broken). motor table. Entry in motor table is incorrect. • Measure the temperature Incorrect or defective sensor (2000 [Ohm] at temperature sensor was 25 [°C]). installed.
September 2006
Inform your service agency. 340 420-01, • Check the machine 340 422-01, parameters for number of 340 480-02 signal periods and distance for the number of signal periods. • Check the machine parameter for the linear distance of one motor revolution. • For linear motors: check column STR of the motor table. • Check the speed encoder connection. • Check the motor connection. • Release brakes during orientation.
DSP Error Messages
12 – 11
Error message
Cause
8B40 No drive release
Inverter is not ready for Inform your service agency. 340 420-01, operation. • Check the signal and 340 422-01, No pulse release for the cabling of the pulse 340 480-02 power module. release. Uz too large. • Check Uz. Power-fail signal is • Check the emergency active. stop circuit. If M control: NE2 input is • If the power supply is not active. regenerative: Is the If P control: drive release braking resistor at X50 is inactive. connected? Motor control board • If the power supply is defective. regenerative: Is energy PWM cable defective. recovery activated? Noise pulses. • Exchange the power module. • For P controls: Exchange the interface card. • Exchange the motor drive control board.
Corrective action
As of NC SW
8B50 Axis module not ready
340 420-01, No pulse release for the Inform your service agency. 340 422-01, • Check the signal and power module. 340 480-02 cabling of the pulse Uz too high. 5 V power supply too release. weak. • Check Uz. Inverter is not ready for • If the power supply is not operation. regenerative: Is the Motor control board braking resistor defective. connected? PWM cable defective. • If the power supply is Noise pulses. regenerative: Is energy recovery activated? • Check the grounding and shielding of the cable. • Exchange the power module. • For P controls: Exchange the interface card. • Exchange the motor drive control board.
8B60 Error in axis module
12 – 12
Undervoltage, temperature, or shortcircuit monitor of an IGBT in the inverter has responded.
Let the inverter cool down. Inform your service agency. • Examine the motor for a short circuit in the windings. • Exchange the power module.
340 420-01, to 340 420-10, 340 422-01, to 340 422-05, 340 480-02, to 340 480-05
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
As of NC SW
8B60 Overcurrent cutoff
Undervoltage, temperature, or shortcircuit monitor of an IGBT in the inverter has responded.
Let the inverter cool down. Inform your service agency. • Check the motor connection for a short circuit. • Check the motor for a short circuit in the windings. • Exchange the power module.
340 420-11, 340 422-06, 340 480-06
8B70 External drive lock
Drive switch-on is blocked by one or more external signals.
Inform your service agency. 340 420-01, • Check external enabling 340 422-01, signals (EM.STOP, PFAIL, 340 480-02 NO). • Check the PLC program. • Check external wiring.
8B80 External drive stop
Drive switched off by external signal.
Inform your service agency. 340 420-01, • Check external enabling 340 422-01, signals (EM.STOP, PFAIL, 340 480-02 NO). • Check the PLC program. • Check external wiring.
8B90 No field orientation
No field orientation was Inform your service agency. performed. • Orient the field. Serial number of encoder has changed. Field orientation was not possible.
8B90 Current regulator lock
Wrong motor model. Line count or rotary encoder type incorrect.
September 2006
340 420-01, to 340 420-06
Inform your service agency. 340 420-07, • Check the type of motor 340 422-01, in the motor table. 340 480-02 • If UASM (U/f mode), then line count must be 0. • If UASM (U/f mode), then encoder type must be 0.
DSP Error Messages
12 – 13
Error message
Cause
Corrective action
8BA0 Incorrect line count
Incorrect entry in motor table. Faulty reference signal. Noise pulses. Encoder cable is defective.
Inform your service agency. • Check the entry in the motor table.
As of NC SW
340 420-01, 340 422-01, 340 480-02, • Check the motor encoder to 340 422-02, to 340 480-02 cable. • Exchange the motor encoder cable. • Exchange motor.
8BA0 Incorrect reference signal or line count
Invalid entry for the line Inform your service agency. count STR in the motor • Check the entry in the table motor table. Faulty reference signal. • Check the signals from Noise pulses. the speed or rotational Encoder cable defective speed encoder (PWM 8)
340 420-11, 340 422-03, 340 480-03
• Check encoder cable for interruption or short circuit under mechanical load (bending, stretching, etc.). • Check the shielding and shield connection in the encoder cable. • Exchange encoder cable. • Exchange motor. 8BB0 Motor temp. too low
12 – 14
Measured motor Inform your service agency. temperature too low • Check the wiring. Temperature sensor • Check temperature wired incorrectly (short sensor. circuit). • Deselect monitoring of Temperature sensor excessively low defective. temperature with Incorrect temperature MP2220 bit 5. sensor (KTY84 required). • Exchange encoder input Hardware error on PCB. encoder input PCB.
340 420-11, 340 422-06, 340 480-06
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
8BC0 Motor current too high
Incorrect motor or power Inform your service agency. 340 420-01, module selected. • Are the correct motor and 340 422-01, Incorrect current power module selected? 340 480-02 controller parameters. • Check the current control Incorrect parameters in adjustment. the motor table. • Check the motor and Power module defective. motor cable for a short Motor cable defective circuit. (short circuit). • Exchange the power Motor defective (short module or drive control circuit, ground fault). board. Motor control board defective.
8BD0 Excessive The following error of a servo lag in moved axis is greater than the value entered in machine parameter MP1720.x (for following error mode) or MP1420.x (for feedforward mode). The acceleration entered is too large. The motor is not moving even though drive-on was given.
As of NC SW
Reduce machining feed rate, increase speed. Remove possible sources of vibration. If this occurs frequently: Inform your service agency. Inform your service agency. • Check MP1060.x. • The motor current must not be limited during acceleration.
340 420-01, 340 422-01, 340 480-02
8BE0 Encoder defective
Incorrect nominal distance between two reference marks
Inform your service agency. • Check the entry in the motor table and MP2206.x. • Check the entry in MP334.x. • Check if the reference signal is disturbed.
340 420-10, 340 422-03, 340 480-01
8BF0 Input frequency from speed encoder
Noise on speed encoder Inform your service agency. signals • Check encoder signals. • Check shielding.
340 420-10, 340 422-03, 340 480-03
8C00 Input frequency from position encoder
Noise on position encoder signals
Inform your service agency. • Check encoder signals. • Check shielding.
340 420-10, 340 422-03, 340 480-03 to 340 422-05 to 340 480-05
8C00 Encoder on speed input is defective
There is no motor encoder signal There is a break in the motor encoder cable The signal amplitude of the motor encoder is missing or too small The motor encoder is contaminated
Inform your service agency. • Check the motor encoder connection. • Check the motor encoder for proper function. • Check the amplitude of the motor encoder signal.
with CC 422: 340 49x-02 SP3 to 34049x-03 is the wrong error message 8C00 Input frequency from position encoder indicated
September 2006
DSP Error Messages
12 – 15
Error message
Cause
Corrective action
As of NC SW
9800 MCU command unknown
An internal software error has occurred.
Inform your service agency. • Check software version.
340 420-01, to 340 420-03
9800 MC command unknown
MC command not permitted for this hardware. MC command not currently permitted. 0 = Faulty command code > 255 1...255 = Incorrect or invalid command code Internal software error.
Inform your service agency. • Check software version.
340 420-04, to 340 420-06
9800 CC MC command unknown
MC command not permitted for this hardware. MC command not currently permitted. 0 = Faulty command code > 255 1...255 = Incorrect or invalid command code Internal software error.
Inform your service agency. • Check software version.
340 420-07, to 340 420-10, 340 422-01, to 340 422-05, 340 480-02, to 340 480-05
9800 CC MC command unknown
MC command not permitted for this hardware. MC command not currently permitted. 0 = Faulty command code > 255 1...255 = Incorrect or invalid command code Internal software error.
Inform your service agency. • Check software version.
only 340 422-06, only 340 48006
12 – 16
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
As of NC SW
9800 CC MC command unknown
MC command not permitted for this hardware. MC command not currently permitted. 0 = Faulty command code > 255 1...255 = Incorrect or invalid command code Internal software error.
Inform your service agency. • Check software version.
340 420-11, 340 422-07, 340 480-07
9900 CC CC command unknown
CC command not permitted for this hardware. Internal software error.
Inform your service agency. • Check software version.
340 420-11, 340 422-09, 340 480-09
A000 Error in T2 test
Error during the test of emergency-stop loop 2.
Inform your service agency. • Check the wiring. • Check the emergencystop key. • Replace the hardware.
340 420-01, to 340 420-04
A080 Op. state MCU not equal CCU
The automatic SRG, SBH, and SH operating states of the MCU and CCU are compared cyclically. If the states are unalike for over 200 ms, a stop 1 is output.
Press CE to acknowledge the 340 420-01, error message. to 340 420-02 Switch on the machine. Inform your service agency. • Check software version.
A080 Op. state MC not equal CC
The automatic SRG, Press CE to acknowledge the 340 420-03, SBH, and SH operating error message. to 340 420-04 states of the MC and CC Switch on the machine. are compared cyclically. Inform your service agency. If the states are unalike • Check software version. for over 500 ms, a stop 1 is output.
A080 CC operating state not equal MC
The automatic SRG, Press CE to acknowledge the 340 420-10, SBH, and SH operating error message. 340 422-03, 340 480-03 states of the MC and CC Switch on the machine. are compared cyclically. Inform your service agency. If the states are unalike • Check software version. for over 500 ms, a stop 1 is output.
September 2006
DSP Error Messages
12 – 17
Error message
Cause
A083 CC safe input not equal 0
Error during dynamic Inform your service agency. test of emergency-stop • Check the wiring. loop 2. 0 V is expected in • Check the door contacts the dynamic test at all and keylock switches. door-contact and • Replace the hardware. keylock-switch inputs after at most 1.5 minutes. This error message appears if 24 V are measured.
340 420-12, 340 422-10, 340 480-10
A800 CC safe input limit switch positive
Permissible positive Inform your service agency. traverse range exceeded • Check the setting in MP650.
340 422-03, to 340 422-05, 340 480-03, to 340 422-05
A800 CC limit switch +
Permissible positive Inform your service agency. traverse range exceeded • Check the setting in MP650.
340 420-11, 340 422-06, 340 480-06
A810 CC safe input limit switch negative
Permissible negative Inform your service agency. traverse range exceeded • Check the setting in MP670.
340 422-03, to 340 422-05, 340 480-03, to 340 422-05
A810 CC limit switch –
Permissible negative Inform your service agency. traverse range exceeded • Check the setting in MP670.
340 420-11, 340 422-06, 340 480-06
A810 CC SRG speed too high
The maximum Reduce the feed rate and permissible speed in the speed before opening the SRG operating mode protective doors. was exceeded. Check the operating mode (keylock switch setting). Inform your service agency. • Check parameter values: MP540.x/MP541: Operating mode BA3/BA4 MP552.x/MP551: Special operation MP590.x/MP591: Operating mode BA2
340 422-03, to 340 422-05, 340 480-03, to 340 422-05
12 – 18
Corrective action
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HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
A820 CC speed greater than SRG
The maximum Reduce the feed rate and 340 420-11, permissible speed in the speed before opening the 340 422-06, SRG operating mode protective doors. 340 480-06 was exceeded. Check the operating mode (keylock switch setting). Inform your service agency. • Check parameter values: MP540.x/MP541: Operating mode BA3/BA4 MP552.x/MP551: Special operation MP590.x/MP591: Operating mode BA2
A830 CC SRG speed = 0
The maximum permissible speed is 0. An internal software error has occurred.
Check the operating mode (keylock switch setting). Inform your service agency. • Check parameter values: MP540.x/MP541: Operating mode BA3/BA4 MP552.x/MP551: Special operation MP590.x/MP591: Operating mode BA2
A830 CC SRG speed = 0
The maximum permissible speed is 0. An internal software error has occurred.
Check the operating mode 340 420-11, (keylock switch setting). 340 422-06, Inform your service agency. 340 480-06 • Check parameter values: MP540.x/MP541: Operating mode BA3/BA4 MP552.x/MP551: Special operation MP590.x/MP591: Operating mode BA2
A840 CC SBH speed too high
The maximum permissible speed was exceeded during standstill monitoring.
Inform your service agency. • Check the drive.
340 422-03, to 340 422-05, 340 480-03, to 340 422-05
A840 CC SBH speed too high
The maximum permissible speed was exceeded during standstill monitoring.
Inform your service agency. • Check the drive.
340 420-11, 340 422-06, 340 480-06
September 2006
Corrective action
DSP Error Messages
As of NC SW
340 422-03, to 340 422-05, 340 480-03, to 340 422-05
12 – 19
Error message
Cause
A850 CC SBH speed = 0
Standstill monitoring has Inform your service agency. the value 0. • Check MP1054.x (travel Parameter of one motor revolution) MP1054.x = 0 An internal software error has occurred.
340 422-03, to 340 422-05, 340 480-03, to 340 422-05
A850 CC SBH speed = 0
Standstill monitoring has Inform your service agency. the value 0. • Check MP1054.x (travel Parameter of one motor revolution) MP1054.x = 0 An internal software error has occurred.
340 420-11, 340 422-06, 340 480-06
A860 Traverse in SRG too large
The maximum Check the probing sequence. permissible traverse in Close the protective doors. the SRG operating mode Inform your service agency. was exceeded because: When probing with oriented spindle stop, the spindle axis was moved by more than 2 revolutions.
340 420-12, 340 422-10, 340 480-10
AC00 Amplitude too high
Noise on motor encoder Inform your service agency. 340 420-01, signal. • Check connection of to 340 420-06 Short circuit in motor motor encoder (ground encoder cable. connection). Motor encoder signal • Check the motor encoder. amplitude too high.
AC00 CC amplitude too high
The encoder signal Inform your service agency. 340 420-07, 340 422-01, amplitude is too high or • Check connection of 340 480-02 the contamination signal motor encoder (ground is active. connection). Noise on motor encoder • Check the motor encoder. signal. Short circuit in motor encoder cable. Motor encoder signal amplitude too high.
AC10 Amplitude too low
Interruption in motor encoder cable. Motor encoder signal amplitude missing.
12 – 20
Corrective action
As of NC SW
Inform your service agency. 340 420-01, • Check connection of to 340 420-06 motor encoder. • Check the motor encoder.
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
AC10 CC amplitude too low
The encoder signal Inform your service agency. 340 420-07, amplitude is too low or • Check connection of 340 422-01, the contamination signal motor encoder (ground 340 480-02 is active. connection). Interruption in motor • Check the motor encoder. encoder cable. • Check encoder signal Motor encoder signal amplitude. amplitude missing.
AC20 Frequency too high
Noise on motor encoder Inform your service agency. 340 420-01, signal. • Check connection of to 340 420-06 motor encoder. • Check the motor encoder.
AC20 CC frequency too high
The maximum input Inform your service agency. 340 420-07, frequency was • Check connection of 340 422-01, exceeded at an encoder motor encoder (ground 340 480-02 input. connection). Noise on motor encoder • Check the motor encoder. signal. • Check encoder signal input frequency.
AC30 CC amplitude too high (position)
The encoder signal Inform your service agency. amplitude is too high or • Check connection of the contamination signal encoder (ground is active. connection). Noise on the encoder • Check encoder. signal. Short circuit in encoder cable. Encoder signal amplitude too high.
340 420-11, 340 422-06, 340 480-06
AC40 CC amplitude too small (position)
The position encoder signal amplitude is too small or the contamination signal is active. Interruption in encoder cable. Encoder signal amplitude missing.
Inform your service agency. • Check connection of encoder. • Check encoder. • Check encoder signal amplitude.
340 420-11, 340 422-06, 340 480-06
AC50 CC frequency too high (position)
The maximum input frequency was exceeded at a position encoder input. Noise on the encoder signal.
Inform your service agency. 340 420-11, • Check connection of 340 422-06, encoder (ground 340 480-06 connection). • Check encoder. • Check the input frequency of the encoder signal.
September 2006
Corrective action
DSP Error Messages
As of NC SW
12 – 21
Error message
Cause
Corrective action
B800 Safe inputs not equal
Wiring error X65, X66 (and X67). Safety module defective.
Inform your service agency. 340 420-01, • Check the wiring X65, X66 to 340 420-06 (and X67). • Exchange the safety module.
B800 CC safe input not equal
Safety-oriented input of Inform your service agency. 340 420-07, the CCU > 400 ms not • Check the wiring X65, X66 340 422-01, equal to the safety(and X67). 340 480-02 oriented input of the • Exchange the safety MCU. module. Different levels at the safety module input: 0 = Axis configuration A 1 = Axis configuration B 2 = Safe stop of spindle 3 = Permissive button of machine operating panel 4 = Acknowledgement of switch-off 5 = NC stop 6 = Spindle stop 7 = Permissive button of handwheel 8 = Safe reduced velocity of axes 9 = Safe reduced velocity of spindle 10 = Safe reduced velocity of auxiliary axes 11 = Safe controlled stop of axes 12 = Safe controlled stop of spindle 13 = Safe controlled stop of auxiliary axes or permissive button on tool changer 14 = Machine key is active 15 = Machine on Wiring error X65, X66 (and X67). Safety module defective.
12 – 22
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HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
B900 Error in supply voltage
The Vcc supply voltage was out of range. Excessive load from external components (e.g. encoder). The power supply unit (UVxxx) is defective.
Inform your service agency. 340 420-01, Measure the supply voltage. to 340 420-03 • If below range (< 4.75 V): Check the encoder connections. • If above range (> 5.40 V): Exchange the power supply unit (UVxxx).
B900 Supply voltage
The Vcc supply voltage (x) was out of range. +4 = Undervoltage Vcc (+5 V) Excessive load from external components (e.g. encoders). +6 = Undervoltage Vcc (+5 V) The power supply unit is defective. +13 = Undervoltage Vcc (+15 V) The power supply unit is defective. +17 = Undervoltage Vcc (+15 V) The power supply unit is defective. -13 = Undervoltage Vcc (-15 V) The power supply unit is defective. -17 = Undervoltage Vcc (-15 V) The power supply unit is defective.
Measure supply voltage Vcc (x). Vcc (+5 V) < +4.75 V Check encoder connections. Vcc (+5 V) > +5.50 V Exchange power supply unit. Vcc (+15 V) < +14.25 V Exchange power supply unit. Vcc (+15 V) > +16.50 V Exchange power supply unit. Vcc (-15 V) < -14.25 V Exchange power supply unit. Vcc (-15 V) > -16.50 V Exchange power supply unit.
September 2006
DSP Error Messages
As of NC SW
340 420-04, to 340 420-06
12 – 23
Error message
Cause
B900 CC supply voltage
The Vcc supply voltage Inform your service agency. (x) was out of range. • Measure supply voltage +4 = Undervoltage Vcc Vcc (x). (+5 V) • Vcc (+5 V) < +4.75 V Excessive load from Check encoder external components connections. (e.g. encoders). • Vcc (+5 V) > +5.50 V +6 = Undervoltage Vcc Exchange power supply (+5 V) unit. The power supply unit is • Vcc (+15 V) < +14.25 V defective. Exchange power supply +14 = Undervoltage Vcc unit. (+15 V) • Vcc (+15 V) > +16.50 V The power supply unit is Exchange power supply defective. unit. +16 = Undervoltage Vcc • Vcc (-15 V) < -14.25 V (+15 V) Exchange power supply The power supply unit is unit. defective. • Vcc (-15 V) > -16.50 V -14 = Undervoltage Vcc Exchange power supply (-15 V) unit. The power supply unit is defective. -16 = Undervoltage Vcc (-15 V) The power supply unit is defective.
340 420-07, 340 422-01, 340 480-02
BA00 Error operating temperature
The permissible Check the ventilation operating temperature conditions. was exceeded. Inform your service agency. Temperature sensor on PCB is defective. Insufficient ventilation of the electrical cabinet (fan defective). Ambient temperature is too high.
340 420-01, to 340 420-03
12 – 24
Corrective action
As of NC SW
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
As of NC SW
BA00 Operating Permissible operating Check the ventilation 340 420-04, temperature temperature exceeded. conditions. to 340 420-06 Temperature sensor on Inform your service agency. motor control board • Exchange the motor drive defective. control board. Insufficient ventilation of the electrical cabinet (fan defective). Ambient temperature too high. BA00 CC operating temperature
The temperature inside Check the ventilation the LE was out of the conditions. permissible range. Inform your service agency. (–128...0...+127 = Measured temperature value [°C]) Temperature sensor on PCB is defective. Insufficient ventilation of the electrical cabinet (fan defective). The ambient temperature is too high or too low.
340 420-07, 340 422-01, 340 480-02
C000 No data exchange with MCU
Communication with the Inform your service agency. MCU was interrupted. An internal software error has occurred.
340 420-01, to 340 420-03
C000 No data exchange with MC
Communication with the Inform your service agency. MC was interrupted. • Check software version. An internal software error has occurred.
340 420-04, 340 422-01, 340 480-02
C001 Undefined error
An internal software error has occurred.
340 420-01, 340 422-01, 340 480-02
September 2006
Inform your service agency. • Check software version.
DSP Error Messages
12 – 25
Error message
Cause
Corrective action
As of NC SW
C002 MCU command invalid
An internal software error has occurred.
Inform your service agency. • Check software version.
340 420-01, to 340 420-03
C002 MC command invalid
An internal software error has occurred.
Inform your service agency. • Check software version.
340 420-04, 340 422-01, 340 480-02
C003 MCU/CCU system clock mismatch
Hardware error (quartz generator). Software error.
Inform your service agency. 340 420-01, • Exchange the drive to 340 420-03 control board or processor board. • Check software version.
C003 MC/CC system clock mismatch
Hardware error (quartz generator). Software error.
Inform your service agency. • Exchange drive control board or CPU board. • Check software version.
340 420-04, 340 422-01, 340 480-02, to 340 420-08 to 340 422-02, to 340 480-02
C003 MC/ CC system clock mismatch
Hardware error (quartz generator). Software error.
Inform your service agency. • Exchange drive control board or CPU board. • Check software version.
340 420-09 340 422-03, 340 480-03
C004 Undefined interrupt
Software error. Hardware error: Disturbance results in internal interrupt.
Switch off the machine. Switch on the machine. Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
• Check the grounding. Software does not fit the Inform your service agency. C005 Unknown hardware. • Check software version. hardware identifier Hardware defective. • Exchange drive control
340 420-01, 340 422-01, 340 480-02
board. C006 I-CTRL Communication error communication: TIME between speed and current controllers.
Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
C007 DC-link voltage too low
Line power interrupted. Inverter defective.
Check your line power supply. 340 420-01, Inform your service agency. 340 422-01, • Check the inverter. 340 480-02
C008 I-CTRL communication: QUEUE
Communication error between speed and current controllers.
Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
C009 Stack overflow An internal software error has occurred.
12 – 26
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
As of NC SW
C00A PWM triangular signal error
Hardware error: Triangular signal does not oscillate or it oscillates at the wrong frequency.
Inform your service agency. • Exchange drive control board.
340 420-01, 340 422-01, 340 480-02
C00B Too little main memory
An internal software error has occurred.
Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
C00C LSV2, incorrect number of data
The number of LSV2 data to be read is incorrect A software error has occurred.
Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
C00D Program checksum error
An internal software or hardware error has occurred.
Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
An internal software or hardware error has occurred.
Inform your service agency. • Check software version.
C00F Error in software timer
An internal software error has occurred.
Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
C010 Bus error in speed controller
Access violation on controller periphery.
Inform your service agency. • Exchange control board.
340 420-01, 340 422-01, 340 480-02
C011 Softw. synchronization err.
An internal software error has occurred.
Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
C012 Pos. control err. Cycle time
MC is outputting Inform your service agency. erroneous cycle time for • Check machine CC position controller. parameter MP7600.x. A hardware error has • Exchange drive control occurred. board.
340 420-01, 340 422-01, 340 480-02
C013 PWM frequency error
Entered PWM Inform your service agency. frequency in MP2180 • Check MP2180. lies outside the permissible input range.
340 420-01, 340 422-01, 340 480-02, to 340 420-09 to 340 422-02, to 340 480-02
C00E Controller software timeout
September 2006
• Exchange drive control board.
• Exchange drive control board.
DSP Error Messages
340 420-01, 340 422-01, 340 480-02
12 – 27
Error message
Cause
C013 PWM frequency error
Entered PWM Inform your service agency. frequency in MP2180 • Check MP2180. lies outside the permissible input range. PWM frequencies that may not be combined with each other were selected.
C014 Interpolator, PWM invalid
Invalid relation between Inform your service agency. 340 420-01, interpolator clock and • Change the relation 340 422-01, PWM frequency. between interpolator 340 480-02 clock and PWM frequency. • See the Technical Manual for possible relations.
C015 Interpolator, PWM changed
Interpolator clock or PWM frequency was changed.
C017 PWM frequency too high
For a single-speed Inform your service agency. 340 420-12, control loop, the PWM • Check MP2180.x and 340 422-10, basic frequency set in MP2182.x. 340 480-10 MP2180.x is twice as • Use a double-speed high, and the current control loop instead of a controller cycle time set single-speed control loop. in MP2182.x is half as high.
C018 Master-slave torque: Axis assignment incorrect
Axes in master-slave Inform your service agency. torque control are only • Change the axis permitted at X15/X17 or assignment. X16/X18.
340 420-10, 340 422-03, 340 480-03
C110 Unknown motor type
Entry in MP2200.x or in the motor table incorrect. An internal software error has occurred.
Inform your service agency. • Check MP2200.x and motor table
340 420-01, 340 422-01, 340 480-02
C140 Pole pair no. too large
Incorrect entry in motor table.
Inform your service agency. • Check the motor table.
340 420-01, 340 422-01, 340 480-02
C150 Field current error
Incorrect entry in motor table.
Inform your service agency. • Check the motor table.
340 420-01, 340 422-01, 340 480-02
12 – 28
Corrective action
Restart the control.
As of NC SW 340 420-10 340 422-03, 340 480-03
340 420-01, 340 422-01, 340 480-02
• Check software version.
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
C160 grating period of of motor encoder
Measured grating period Inform your service agency. does not agree with • Check motor table (line entry in the motor table. count). • Check the motor.
Corrective action
340 420-01, 340 422-01, 340 480-02
C170 Rotor time constant err.
The rotor time constant Inform your service agency. calculated from the rotor • Check the motor table. table is invalid.
340 420-01, 340 422-01, 340 480-02
C180 Rated speed error
Incorrect entry in motor table.
340 420-01, 340 422-01, 340 480-02
C1D0 Current sensor voltage
Incorrect entry in power Inform your service agency. 340 420-01, module table. • Check the power module 340 422-01, table. 340 480-02
C1E0 Imax of power module
Incorrect entry in power Inform your service agency. 340 420-01, module table. • Check the power module 340 422-01, table. 340 480-02
C210 Tmax of motor table
Incorrect temperature entry in motor table.
Inform your service agency. • Check the motor table.
Inform your service agency. • Check the motor table.
As of NC SW
340 420-01, 340 422-01, 340 480-02
C240 Irated of Incorrect entry in power Inform your service agency. 340 420-01, power module module table. • Check the power module 340 422-01, table. 340 480-02 C250 Irated of motor error
Incorrect entry in motor table.
Inform your service agency. • Check the motor table.
340 420-01, 340 422-01, 340 480-02
C260 Imax of motor error
Incorrect entry in motor table.
Inform your service agency. • Check the motor table.
340 420-01, 340 422-01, 340 480-02
C270 Nmax of motor error
Incorrect entry in motor table.
Inform your service agency. • Check the motor table.
340 420-01, 340 422-01, 340 480-02
C280 Field angle error
Incorrect entry in Inform your service agency. 340 420-01, MP2340.x or MP2350.x. • Check entry in MP2340.x 340 422-01, or MP2350.x. 340 480-02
C290 Uz error
Incorrect entry in Inform your service agency. MP2190 (dc-link voltage • Check the entry in Uz). MP2190.
September 2006
DSP Error Messages
340 420-01, 340 422-01, 340 480-02
12 – 29
Error message
Cause
Corrective action
As of NC SW
C2A0 Encoder input
Incorrect entry in MP112.x or MP113.x (speed encoder). An internal software error has occurred.
Inform your service agency. • Check the entry in MP112.x or MP113.x. • Check software version.
340 420-01, 340 422-01, 340 480-02
C2B0 PWM output
Incorrect entry in MP120.x or MP121.x (nominal speed output). An internal software error has occurred.
Inform your service agency. • Check the entry in MP120.x or MP121.x. • Check software version.
340 420-01, 340 422-01, 340 480-02
C2C0 Band-pass parameter
Incorrect entry in Inform your service agency. MP2540.x, MP2541.x, • Check the entry in MP2550.x or MP2551.x. MP2540.x, MP2541.x, An internal software MP2550.x or MP2551.x. error has occurred. • Check software version.
340 420-01, 340 422-01, 340 480-02
C2D0 Encoder line count
Encoder line count was changed.
Restart the control.
340 420-01, 340 422-01, 340 480-02
C2E0 Motor polepair number
Number of motor pole pairs was changed.
Restart the control.
340 420-01, 340 422-01, 340 480-02
C2F0 DIR in motor table
DIR in motor table was changed.
Restart the control.
340 420-01, 340 422-01, 340 480-02
C300 Zn track error
Contamination of the motor encoder (Zn track). Motor encoder cable is defective. Motor control board defective.
340 420-01, Inform your service agency. 340 422-01, • Exchange the motor. • Check the motor encoder 340 480-02 cable. • Exchange the motor drive control board.
C310 Z1 track error
Contamination of the motor encoder (Z1 track). Motor encoder cable is defective. Motor control board defective.
Inform your service agency. 340 420-01, • Exchange the motor. 340 422-01, • Check the motor encoder 340 480-02 cable. • Exchange the motor drive control board.
12 – 30
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
C330 Motor temp. too high
Measured motor Let the motor cool down. 340 420-01, temperature is too high. Inform your service agency. 340 422-01, No temperature sensor. • Check the motor encoder 340 480-02 Motor encoder cable is cable. defective. • Check the entry in the Entry in motor table is motor table. incorrect. • Measure the temperature Incorrect or defective sensor (2000 [Ohm] at temperature sensor was 25 [°C]). installed.
C340 Unknown counter compnt.
Hardware defective. Incorrect software version.
C350 Axis module not ready
No pulse release for the Inform your service agency. 340 420-01, axis module. • Check the signal and 340 422-01, Uz too large. cabling of the pulse 340 480-02 5-V power supply too release. weak. • Check Uz. Inverter is not ready for • If the power supply is not operation. regenerative: Is the Motor control board braking resistor defective. connected? PWM cable defective. • If the power supply is Noise pulses. regenerative: Is energy recovery activated? • Check the grounding and shielding of the cable. • Exchange the power module. • For P controls: Exchange the interface card. • Exchange the motor drive control board.
C370 Motor encoder angle dev.
Motor encoder defective. Motor encoder cable is defective. Drive control board defective.
September 2006
Corrective action
Inform your service agency. • Check software version. • Exchange drive control board.
As of NC SW
340 420-01, 340 422-01, 340 480-02
Inform your service agency. 340 420-01, • Check motor encoder and 340 422-01, leads. 340 470-02 • Exchange drive control board.
DSP Error Messages
12 – 31
Error message
Cause
Corrective action
As of NC SW
C380 Motor not controllable
Motor cable switched (e.g., X with Y). Motor encoder cable switched. Phases incorrectly connected to motor. Motor encoder cable is defective. Incorrect motor table entry (direction of rotation). Motor defective. I2t monitoring has responded.
Check motor cabling. Inform your service agency. • Check motor and motor encoder cable. • Check motor table entry. • Check I2t monitoring (MP2302.x).
340 420-01, 340 422-01, 340 480-02
C390 Error in 3-D touch probe
Software error. Hardware error: control board.
Inform your service agency. 340 420-01, • Exchange the motor drive 340 422-01, control board. 340 480-02 • Check software version.
C3A0 Incorrect reference position
Incorrect motor selected Inform your service agency. (MP2200). • Check motor selection Ground error on the (MP2200). motor encoder cable • Check motor encoder (noise on Ref). cabling (ground). Motor encoder • Exchange the motor. defective.
C3B0 Motor does not rotate
Inform your service agency. 340 420-01, Inverter is not ready. • Check the inverter. 340 422-01, Noise on the RDY input • Check motor and cabling. 340 480-02 of the PWM output • Check machine connector. parameters. Motor jammed. • Check I2t monitoring Inverter defective. (MP2302.x). Motor defective. Incorrect motor selected (MP2200.x). Assignment of PWM outputs incorrectly entered in MP120.x. Assignment of encoder inputs incorrectly entered in MP112.x. Motor power cable switched. Motor encoder cable has been switched. Incorrect motor connection. I2t monitoring has responded.
12 – 32
340 420-01, 340 422-01, 340 480-02
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
C3C0 Motor current too high
Incorrect current controller parameters. Incorrect parameters in the motor table. Power module defective. Motor cable defective. Motor defective. Motor control board defective.
Inform your service agency. 340 420-01, • Is the correct motor and 340 422-01, power module selected? 340 480-02 • Check the current control adjustment. • Check the motor and motor cable for a short circuit. • Exchange power module or drive control board
C3D0 PWM component defective
An internal hardware error has occurred.
Inform your service agency. • Exchange drive control board.
340 420-01, 340 422-01, 340 480-02
C3E0 Err. in rated U of motor
Rated motor voltage Inform your service agency. outside of the permitted • Check the entry in the input range. motor table.
340 420-01, 340 422-01, 340 480-02
C3F0 EnDat not found
EnDat communication is Inform your service agency. 340 420-01, defective. • Check the motor table 340 422-01, (column SYS). 340 480-02 • Exchange the motor drive control board. • Check speed encoder cable (defective or too long). • Check speed encoder. • Check the grounding and shielding of the cable.
C400 Encoder line count error
The values for the Inform your service agency. encoder line count from • Check the motor type in the motor table do not the machine parameters. match the downloaded • Check the motor table. values. • Check the mounted encoder.
September 2006
DSP Error Messages
As of NC SW
340 420-01, to 340 420-01
12 – 33
Error message
Cause
Corrective action
C400 Line count error
Line count from the motor table does not match the downloaded values.
Inform your service agency. 340 420-02, • Check machine 340 422-01, parameters for linear 340 480-02 distance of one motor revolution and distance for the number of signal periods. • Check the motor table (columns TYPE and STR). • Check speed encoder.
C410 Rotor position undefined
Contamination of the speed encoder (Zn track). Speed encoder cable defective. Motor control board defective. Speed encoder defective.
Inform your service agency. 340 420-01, • Exchange the motor. 340 422-01, • Check speed encoder 3404 80-02 cable. • Exchange the motor drive control board.
C420 V control is not possible
Incorrect speed controller parameters (kV, kI) Incorrect speed controller filter parameters Excessive acceleration.
Inform your service agency. • Check machine parameters for speed controller. • Check machine parameters for filter. • Check software version.
C420 Ctrlr parameters incorrect
Inform your service agency. Feedforward-control • Check the adjustment of parameters are set the axes. incorrectly (acceleration, • Check the inverter. friction) Excessive acceleration. Controller parameters set incorrectly (kI, kP, kD) Filters set incorrectly (band rejection, low pass) Inverter defective (IGBT). Incorrect motor selected in motor table.
12 – 34
As of NC SW
340 420-01, to 340 422-11 340 422-01, to 340 422-09 340 480-02, to 340 480-09 340 420-12, 340 422-10, 340 480-10
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
As of NC SW
C430 No position module
Position module with position encoder does not exist. Position module with position encoder is not correctly connected. Position module with position encoder is defective.
Inform your service agency. • Install position module with position encoder. • Check the connection of the position module with position encoder. • Exchange the position module with position encoder.
340 420-01, to 340 420-01
C430 Error of position input
Position encoder input Inform your service agency. does not exist. • Install position encoder Position encoder input input. not connected correctly. • Check connection of the Position encoder input position encoder input. defective. • Exchange position encoder input.
C440 PWM frequency incorrect
340 420-01, PWM frequency within a Inform your service agency. 340 422-01, control group is • Check machine 340 480-02 incorrect. parameters for PWM frequency. • PWM frequency > 5000 Hz only with suitable hardware and only with PWM outputs X51, X52, X57 and X58. • PWM frequency 3200 Hz.
C450 Wrong encoder
Incorrect encoder Inform your service agency. 340 420-01, selected in the motor • Correct the encoder entry to 340 420-01 table, e.g. linear encoder in the motor table. instead of rotary • Check the motor encoder encoder, EnDat encoder cable. instead of encoder with • Exchange the motor. Z1 track. • Exchange the motor drive control board.
September 2006
DSP Error Messages
340 420-02, 340 422-01, 340 480-02
12 – 35
Error message
Cause
Corrective action
C450 Wrong encoder
Entry in column SYS of the motor table incorrect. Speed encoder cable defective. Speed encoder defective. Motor control board defective.
Inform your service agency. 340 420-02, • Check the motor table 340 422-01, (column SYS). 340 480-02 • Check speed encoder cable. • Exchange the motor. • Exchange the motor drive control board.
C460 Motor speed too high
Motor not controllable
Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
Inform your service agency. • Check software version. • Check machine parameter MP7600.0.
340 422-01, 340 480-02
C470 No nominal An internal software speed values error has occurred. Position controller cycle time too short.
As of NC SW
C4A0 Inverter is not active
Inverter switched off Inform your service agency. (PLC, SH1). • Check the inverter and Inverter defective. wiring. Motor defective. • Check the motor and Incorrect motor selected wiring. in motor table. Motor power cable switched. Motor connected incorrectly.
340 420-10, 340 422-03, 340 480-03
C4C0 No motor current
Motor connected Inform your service agency. incorrectly or not at all. • Check the motor and wiring. Inverter defective. • Check the inverter. Motor defective. Incorrect motor selected in motor table. Motor power cable switched.
340 420-10, 340 422-03, 340 480-03
12 – 36
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
C4D0 Error in torque constant
The following can cause Check motor table. the value for the torque constant to be 0 or > 9999: • motor.mot: No-load voltage and/or rated speed have an invalid value (or 0). • motor.sn: The value for the torque constant is 0 or > 9999.
Corrective action
340 420-10, 340 422-03, 340 480-03
As of NC SW
C4E0 Field angle determination is not allowed in this mode
The method selected for Inform your service agency. determining the field • Check the entry in angle is invalid or not MP2250.x (only CC 424), possible with this MP2252.x (only CC 424) encoder. and MP2254.x and/or in the SYS column of the motor table (see Technical Manual).
340 420-10, 340 422-03, 340 480-03
C4F0 Command not allowed
Internal software error.
Inform your service agency. • Check software version.
340 420-11, 340 422-07, 340 480-07
C500 MP2520 too large
Differential factor is too large (maximum value 0.5 [As^2/rev])
Inform your service agency. • Select MP2520.x less than 0.5
340 420-11, 340 422-07, 340 480-07
C510 Drive release not allowed
When reading out the Inform your service agency. electronic ID label, the • Check software version. power module may not be in Ready state (–SH1 is inactive).
340 420-11 340 422-07, 340 480-07
C520 Timeout in An internal software position controller error has occurred.
Inform your service agency. • Check software version.
340 420-12, 340 422-10, 340 480-10
An internal software error has occurred.
Inform your service agency. • Check software version.
340 420-12, 340 422-10, 340 480-10
C530 Timeout in speed controller
September 2006
DSP Error Messages
12 – 37
Error message
Cause
Corrective action
As of NC SW
C540 Timeout in current controller
An internal software error has occurred.
Inform your service agency. • Check software version.
340 420-12, 340 422-10, 340 480-10
C550 Error in power An internal software interruption error has occurred.
Inform your service agency. • Check software version.
340 420-12, 340 422-10, 340 480-10
C560 Param. filter 1 invalid
Incorrect entry in Inform your service agency. 340 420-12, MP2542.x, MP2552.x, • Check entry in MP2542.x, 340 422-10, MP2562.x or MP2572.x. MP2552.x, MP2562.x and 340 480-10 An internal software MP2572.x. error has occurred. • Check software version.
C570 Param. filter 2 invalid
Incorrect entry in Inform your service agency. 340 420-12, MP2543.x, MP2553.x, • Check entry in MP2543.x, 340 422-10, MP2563.x or MP2573.x. MP2553.x, MP2563.x and 340 480-10 An internal software MP2573.x. error has occurred. • Check software version.
C580 Param. filter 3 invalid
Incorrect entry in Inform your service agency. 340 420-12, MP2544.x, MP2554.x, • Check entry in MP2544.x, 340 422-10, MP2564.x or MP2574.x. MP2554.x, MP2564.x and 340 480-10 An internal software MP2574.x. error has occurred. • Check software version.
C590 Param. filter 4 invalid
Incorrect entry in Inform your service agency. 340 420-12, MP2545.x, MP2555.x, • Check entry in MP2545.x, 340 422-10, MP2565.x or MP2575.x. MP2555.x, MP2565.x and 340 480-10 An internal software MP2575.x. error has occurred. • Check software version.
C5A0 Param. filter 5 invalid
Inform your service agency. 340 420-12, Incorrect entry in MP2546.x, MP2556.x, • Incorrect entry in 340 422-10, MP2566.x or MP2576.x. MP2546.x, MP2556.x, 340 480-10 An internal software MP2566.x and MP2576.x. error has occurred. • Check software version.
12 – 38
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
As of NC SW
D000 DP RAM area overlap
An internal software error has occurred.
Inform your service agency. • Check software version.
340 420-01, to 340 420-03
D000 DP RAM area
An internal software error has occurred. 1...255 = Area number
Inform your service agency. • Check software version.
340 420-04, to 340 420-06
D000 CC DP RAM area
An internal software error has occurred. 1...255 = Area number
Inform your service agency. • Check software version.
340 420-07, to 340 420-10, 340 422-01, to 340 422-05, 340 480-02, to 340 480-05
D000 CC DP RAM area
An internal software error has occurred. 1...255 = Area number
Inform your service agency. • Check software version.
only 340 422-06, only 340 48006
D000 CC DP RAM
An internal software error has occurred. 1...255 = Area number
Inform your service agency. • Check software version.
340 420-11, 340 422-07, 340 480-07
Inform your service agency. • Check software version.
340 420-01, to 340 420-03
D100 Software error
An internal software Inform your service agency. error has occurred. • Check software version. 0...255 = Code for faulty software module or routine
340 420-04, to 340 420-06
D100 CC software error
Inform your service agency. An internal software error has occurred. • Check software version. 0...255 = Code for faulty software module or routine
340 420-07, to 340 420-10, 340 422-01, to 340 422-05, 340 480-02, to 340 480-05
D100 CC software error
An internal software Inform your service agency. error has occurred. • Check software version. 0...255 = Code for faulty software module or routine
only 340 422-06, only 340 48006
D100 CC software error
An internal software Inform your service agency. error has occurred. • Check software version. 0...255 = Code for faulty software module or routine
340 420-11, 340 422-07, 340 480-07
D100 Software error An internal software error has occurred.
September 2006
DSP Error Messages
12 – 39
Error message
Cause
Corrective action
As of NC SW
E001 Status NR1/NR2 not equal
NR2 input incorrectly connected. Software error.
Inform your service agency. • Check wiring.
340 420-01, 340 422-01, 340 480-02
NE2 input incorrectly connected. Software error.
Inform your service agency. • Check wiring.
E002 Status NE1/NE2 not equal
• Check software version.
• Check software version.
340 420-01, 340 422-01, 340 480-02
E003 PLC module 9169 illegal
PLC Module 9169 in Inform your service agency. safety-oriented software • PLC program, checking (illegal). • Check software version. Software error.
340 420-01, 340 422-01, 340 480-02
E004 Test SH1 status on active
Measured status of the – Inform your service agency. SH1 signal is at HIGH • Software error. level. • Hardware defective. The –SH1 signal does not change to the “active” status (LOW level), even though the MC is no longer triggering the corresponding watchdog.
340 420-12, 340 422-10, 340 480-10
E005 Test SH1 status on inactive
Measured status of the – Inform your service agency. SH1 signal is at LOW • Software error. level. • Hardware defective. The –SH1 signal does not change to the “inactive” status (HIGH level), even though the MC is no longer triggering the corresponding watchdog.
340 420-12, 340 422-10, 340 480-10
E008 SRG speed too high
Safe reduced rotational velocity (SRG) was exceeded. No standstill in safe controlled stop (SBH) operating mode.
Inform your service agency.
340 420-01, 340 422-01, 340 480-02
E009 Incorrect gear range
Software error.
Inform your service agency. • Check software version.
340 420-01, 340 422-01, 340 480-02
E00A Safe machine param. error
CRC checksum does not Inform your service agency. fit the entered safe MPs. • Check the safe machine parameters.
340 420-01, 340 422-01, 340 480-02
12 – 40
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
As of NC SW
E00B Cutout Machine key depressed Inform your service agency. 340 420-01, channels test error (ZT.HR, ZT.MB, MT • Check the wiring X65, X66 to 340 420-11, signal). (and X67). 340 422-01, to 340 422-09, • Check machine keys. 340 480-02, to 340 480-09 E00B Cutout Illegal code received for channels test error conducting the test.
Inform your service agency. • Software error.
340 420-12, 340 422-10, 340 480-10
E00C Error in transfer of MP3210
MP3210.x incorrect. Check the software version of the MC.
Inform your service agency. • Check MP3210.x. • Check software version.
340 420-01, 340 422-01, 340 480-02
E00D Error in transfer of MP3510
MP3510.x incorrect. MC software error.
Inform your service agency. • Check MP3510.x. • Check software version.
340 420-01, 340 422-01, 340 480-02
E00E Error in transfer of MP2020
MP2020.x incorrect. MC software error.
Inform your service agency. • Check MP2020.x. • Check software version.
340 420-01, to 340 420-11, 340 422-01, to 340 422-09, 340 480-02, to 340 480-09
E00E Illegal pulse deletion test
Command for pulse deletion test was received, although the previous test is not yet finished.
Inform your service agency. • Software error.
340 420-12, 340 422-10, 340 480-10
E00F Brake test not performed.
MC makes no test of the Inform your service agency. motor brake(s) although it is necessary according to parameter settings. MC does not run the test of the motor brake(s) within 2 seconds.
340 420-12, 340 422-10, 340 480-10
E010 Error in CCU watchdog test
CCU watchdog signal does not switch to low level
340 420-01, to 340 420-03
September 2006
Inform your service agency.
DSP Error Messages
12 – 41
Error message
Cause
Corrective action
As of NC SW
E010 Error in CC watchdog test
CC watchdog signal does not switch to low level
Inform your service agency. • Check software version. • Exchange the motor drive control board.
340 420-04, to 340 420-11, 340 422-01, to 340 422-09, 340 480-02, to 340 480-09
E010 Test SH2 status on active
Measured status of the – Inform your service agency. SH2 signal is at HIGH • Software error. level. • Hardware defective. The –SH2 signal does not change to the “active” status (LOW level), even though the CC is no longer triggering the corresponding watchdog.
340 420-12, 340 422-10, 340 480-10
E011 Error in CCU watchdog test
CCU watchdog signal does not switch to high level
Inform your service agency.
340 420-01, to 340 420-03
E011 Error in CC watchdog test
CC watchdog signal does not switch to high level
Inform your service agency. • Check software version. • Exchange the motor drive control board.
340 420-04, to 340 420-11, 340 422-01, to 340 422-09, 340 480-02, to 340 480-09
E011 Test SH2 status on inactive
Measured status of the – Inform your service agency. SH2 signal is at LOW • Software error. level. • Hardware defective. The –SH2 signal does not change to the “inactive” status (HIGH level), even though the CC is no longer triggering the corresponding watchdog.
E012 Error in CC switch-off test
CC switch-off signal – NO does not switch to low level.
Inform your service agency. 340 420-04, • Hardware defective. 340 422-01, • Check drive control board. 340 480-02
E013 Error in CC switch-off test
CC switch-off signal – NO does not switch to high level.
340 420-04, Inform your service agency. • Hardware defective. 340 422-01, • Check drive control board. 340 480-02
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340 420-12, 340 422-10, 340 480-10
HEIDENHAIN Technical Manual iTNC 530
Error message
Cause
Corrective action
As of NC SW
E014 Error in CC switch-off test
CC switch-off signal – NO does not switch on both CCs.
Inform your service agency. • Hardware defective. • Check connection of both controller boards.
340 420-04, to 340 420-11, 340 422-01, to 340 422-09, 340 480-02, to 340 480-09
E014 Err. during N0 signal test
Change in the level of the CC1 switch-off signal: –N0 is not recognized by the CC0. Software error. Hardware error.
Inform your service agency. • Check software version.
340 420-12, 340 422-10, 340 480-10
E120 Safe function call error
Software error.
Inform your service agency. • Check software version.
340 420-01, to 340 420-06
E120 CC Safe Software error. function call error
Inform your service agency. • Check software version.
340 420-07, to 340 420-10, 340 422-01, to 340 422-05, 340 480-02, to 340 480-05
E120 CC Safe Software error. function call error
Inform your service agency. • Check software version.
340 420-11, 340 422-06, 340 480-06
Inform your service agency. • Check the inverter.
340 420-01, 340 422-01, 340 480-02
E140 Current to axis not equal 0
Motor current was determined during cutout channel test (24-hour test).
E150 Inverter ready
RDY status of the Inform your service agency. inverter is HIGH instead • Check the inverter. of LOW. • Check the cabling of the cutout channels.
E150 RDY.x status Measured status of the Inform your service agency. stays active RDY.x signal is active. • Software error. The measured status of • Hardware defective. the RDY.x signal is active - The RDY.x signal does not change to the “inactive” (LOW level) status, although the MC is blocking the power module through a corresponding enabling signal.
September 2006
DSP Error Messages
340 420-01, to 340 420-11, 340 422-01, to 340 422-09, 340 480-02, to 340 480-09 340 420-12, 340 422-10, 340 480-10
12 – 43
Error message
Cause
Corrective action
As of NC SW
E160 Inverter not ready
RDY status of the inverter is LOW instead of HIGH
Inform your service agency. • Check the inverter.
340 420-01, to 340 420-11, 340 422-01, to 340 422-11, 340 480-02, to 340 480-
• Check the cabling of the cutout channels.
E160 RDY.x status is inactive
Measured status of the Inform your service agency. RDY.x signal is inactive. • Software error. The measured status of • Hardware defective. the RDY.x signal is active - The RDY.x signal does not change to the “active” (HIGH level) status, although the MC is enabling the power module through a corresponding enabling signal.
340 420-12, 340 422-10, 340 480-10
E170 Pos. deviation too large
MP640 too small. Inform your service agency. Position encoder • Correct MP640. mounting. • Check encoder mounting. Incorrect temperature • Check the compensation. compensation, linear or nonlinear compensation, or reversal error.
340 420-01, to 340 420-11, 340 422-01, to 340 422-09, 340 480-02, to 340 480-09
E130 Position error too large
Parameter value in MP640.x is too small. Defect in the mounting of the position encoder. Incorrect temperature compensation, or linear or nonlinear compensation. Excessive backlash.
Inform your service agency. 340 420-12, • Check the parameter 340 422-10, value in MP640.x 340 480-10 (maximum position deviation between MC and CC during operation). • Check the parameter value in MP720.x (linear axis error compensation for analog axes). • Check the parameter value in MP710.x (backlash compensation).
F000 CC Safe function call error
Software error.
Inform your service agency. • Check software version.
12 – 44
340 420-11, 340 422-06, 340 480-06
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September 2006
DSP Error Messages
12 – 45
12.2 iTNC Error Messages during Data Transfer The following error messages can occur during data transfer through an interface: General error messages Interface already assigned
The interface is already transmitting, or the transmission was not concluded.
Program incomplete
A transmission was broken off or the file was not correctly concluded (no END character or END block).
Ext. input/output not ready
The interface is not connected, or the peripheral unit is switched off or defective.
Data transfer erroneous x
x = error code (see table).
Error codes: Error code Meaning E
During data transfer with BCC, the signal was received 15 times in succession.
A to H except E
Error code of the receiver module with one of the following causes: The transfer rate setting of the iTNC and peripheral device do not match. The parity bit is erroneous. Erroneous data frame (e.g.: no stop bit). The receiver module of the interface is defective.
K
During transmission of an error to the iTNC, the character was not transmitted after the character.
L
After the error sequence an incorrect error number was received (error numbers 0 to 7 are permitted).
N
An expected acknowledgment or was not transmitted by a certain time.
M
During data transfer with BCC, the signal was transmitted 15 times in succession.
Codes K and L are shown only during transmission with the standard data transmission protocol.
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HEIDENHAIN Technical Manual iTNC 530
12.3 Error Messages of the File System The following error messages can be displayed on the iTNC: Error message
Corrective action
File system error 1
Inform your service agency.
File system error 2 File system error 3 File system error 4 File system error 5 File system error 6 File system error 7 File system error 8 File system error 9 File system error 10 File system error A File system error B File system error C File system error D File system error E File system error F File system error G File system error H File system error I File system error J File system error K File system error L
September 2006
Error Messages of the File System
12 – 47
✎
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HEIDENHAIN Technical Manual iTNC 530
13 Subject Index Numerics 123 ..........................................................................................................8 – 70 531210 ....................................................................................................8 – 70 555343 ....................................................................................................8 – 70 688379 ....................................................................................................8 – 70 75368 ........................................................................................ 6 – 234, 8 – 70 807667 ....................................................................................................8 – 70 857282 ....................................................................................................8 – 70 95148 ......................................................................................................8 – 70
A Acceleration...........................................................................................6 – 160 Acceleration feedforward ......................................................................6 – 207 ACTION ....................................................................... 1 – 15, 8 – 123, 8 – 135 Active damping......................................................................................6 – 206 Actual-to-nominal value transfer............................................................6 – 200 Adapters for encoder signals...................................................................2 – 31 ADD STRING (+)....................................................................................9 – 130 ADDITION (+) ..........................................................................................9 – 94 Additional control loops .............................................................................2 – 9 Addressing of Operands..........................................................................9 – 55 Ambient temperature ................................................................................3 – 7 Analog axes ...........................................................................................6 – 195 Analog input ............................................................................................3 – 54 Analog inputs.........................................................................................8 – 195 Analog Nominal Value Output .................................................................3 – 58 Analog outputs ......................................................................................8 – 198 AND (A) ...................................................................................................9 – 82 AND NOT (AN) ........................................................................................9 – 84 Arc end-point tolerance ...........................................................................8 – 68 ASSIGN (=) ..............................................................................................9 – 74 ASSIGN BYTE (B=)..................................................................................9 – 75 ASSIGN NOT (=N) ...................................................................................9 – 77 ASSIGN TWO’S COMPLEMENT (=–) .....................................................9 – 77 ASSIGN WORD (W=) ..............................................................................9 – 76 Assignment table ....................................................................................6 – 70 Automated update, Windows 2000 ......................................................11 – 26 AUTOSTART............................................................................................8 – 44 Auxiliary cycles ........................................................................................8 – 64 Axes clamped........................................................................................6 – 198 Axes, algebraic sign...................................................................................6 – 5 Axis coordinates, ascertaining...................................................................8 – 6 Axis designation ........................................................................................6 – 5 Axis display................................................................................................6 – 3 Axis Error Compensation.........................................................................6 – 37 Axis information, reading.........................................................................6 – 18 Axis keys IV and V .....................................................................................6 – 4 Axis selection ............................................................................................6 – 3 AXISNUMBER =......................................................................................9 – 23
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B BACK ........................................................................... 1 – 15, 8 – 123, 8 – 135 Backlash compensation...........................................................................6 – 37 Balluff .................................................................................................... 8 – 269 Band rejection, CC 424............................................................................7 – 15 Band-rejection filter ................................................................... 6 – 205, 7 – 15 Bar diagram ........................................................................................... 8 – 107 Basic circuit diagrams............................................................................ 3 – 149 Basic version .............................................................................................2 – 5 Battery-buffered memory........................................................................3 – 39 Behavior during program interruption......................................................8 – 45 Bending radius....................................................................................... 3 – 110 BF 120 .....................................................................................................2 – 18 BF 150 .....................................................................................................2 – 17 BIT RESET (BC) ..................................................................................... 9 – 116 BIT SET (BS) .......................................................................................... 9 – 115 BIT TEST (BT) ........................................................................................ 9 – 117 BLANK......................................................................... 1 – 15, 8 – 123, 8 – 135 Block Check Character .......................................................................... 10 – 35 Block diagram for iTNC 530 (with analog control unit) ..........................6 – 381 Block Diagram for iTNC530 (CC422) .....................................................6 – 379 Block Diagram for iTNC530 (CC424) .....................................................6 – 380 Block number increment .........................................................................8 – 40 Block numbers ........................................................................................8 – 40 Block scan ...............................................................................................8 – 50 Block scan, interrupting...........................................................................8 – 53 Brake test ..............................................................................................6 – 267 Braking power ....................................................................................... 6 – 224 Braking ramp ......................................................................................... 6 – 224 Braking the drives.................................................................................. 6 – 223 Bringing a Windows window to the front ................................. 1 – 21, 11 – 31 BTS 1x0 ...................................................................................................2 – 18 Buffer battery ..........................................................................................3 – 38
C Cable ..................................................................................................... 3 – 110 Cable diameter ...................................................................................... 3 – 110 Cable overviews ...................................................................... 3 – 145, 3 – 150 Calibration..............................................................................................8 – 211 Calibration data...................................................................................... 8 – 208 Calibration data blocks........................................................................... 8 – 209 Call Module (CM)................................................................................... 9 – 123 CALL MODULE IF FALSE (CMF) .......................................................... 9 – 124 CALL MODULE IF TRUE (CMT) ............................................................ 9 – 123 Call submit (SUBM) ...............................................................................9 – 139 Canceling a submit program (CAN) ....................................................... 9 – 140 CASE Branch ......................................................................................... 9 – 152 C-axis operation..................................................................................... 6 – 305 CC 422.......................................................................................................2 – 9 CC 424............................................................................................. 2 – 9, 7 – 3 Changing the milling heads ...................................................................6 – 119 Character set ...........................................................................................8 – 79 CHECK................................................................................................... 8 – 124
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C Circular interpolation test ......................................................................6 – 316 CLOSEPLCWINDOW ............................................................................8 – 127 CLOSEPOPUPMENU ............................................................................8 – 126 Code numbers.........................................................................................8 – 70 Collision monitoring.................................................................................6 – 99 Collision monitoring, activating/deactivating .........................................6 – 111 Collision monitoring, definition table .....................................................6 – 112 Collision monitoring, exclusions ............................................................6 – 109 Color settings ..........................................................................................8 – 71 Commissioning IPC and kV with TNCopt ..............................................6 – 339 Commissioning linear and torque motors ...............................................7 – 46 Commissioning the current controller ...................................................6 – 340 Commissioning the feedforward functions with TNCopt ......................6 – 338 Commissioning the position controller..................................................6 – 350 Commissioning the reversal-spike compensation with TNCopt............6 – 339 Commissioning the speed controller.....................................................6 – 344 Commissioning with TNCopt ................................................................6 – 337 Commissioning, preparation..................................................................6 – 334 Compensation of offset for tilting axes .................................................6 – 128 COMPILE ................................................................................................9 – 18 Conditional Compilation...........................................................................9 – 20 Connection overview...............................................................................3 – 11 Constants field ......................................................................................9 – 148 Constants Field (KF) ..............................................................................9 – 148 Contour velocity at corners ...................................................................6 – 236 Control characters .................................................................................10 – 26 Control in operation (*) ............................................................................8 – 12 Control loop ...........................................................................................6 – 158 Control loops, enabling............................................................................2 – 44 Control of Events...................................................................................9 – 143 Controller groups.....................................................................................6 – 15 Conversational language .........................................................................8 – 84 Conversational languages, additional ......................................................8 – 85 Cooling ......................................................................................................3 – 7 Cooperative multitasking.......................................................................9 – 142 Coordinate system ..................................................................................8 – 77 Counter....................................................................................................9 – 59 Current controller ..................................................................................6 – 221 Current controller cycle time .................................................................6 – 159 Current controller, commissioning with TNCopt ...................................6 – 337 Cutting data, calculating ........................................................................8 – 267 Cutting-data table ..................................................................................8 – 268 Cycle 17.................................................................................................6 – 298 Cycle 18.................................................................................................6 – 301 Cycle time .............................................................................................6 – 159 CYCLE.SYS..............................................................................................9 – 32 Cycles........................................................................................ 8 – 47, 8 – 206 Cylindrical surface ..................................................................... 6 – 132, 8 – 49
September 2006
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D Data access ........................................................................................... 10 – 15 Data Backup ............................................................................................2 – 64 Data interfaces ............................................................................ 3 – 67, 10 – 3 Data protection...................................................................................... 10 – 15 Data tampering...................................................................................... 10 – 15 Data transfer rate ....................................................................................10 – 7 Datum management ...............................................................................8 – 38 Datum setting..........................................................................................8 – 36 Datum shift............................................................................................8 – 203 Datum table........................................................................................... 8 – 152 Datums.................................................................................................. 6 – 121 DC-link voltage ...................................................................................... 6 – 334 DCM ........................................................................................................6 – 99 DCM, activating and deactivating.......................................................... 6 – 111 DCM, collision exclusions ..................................................................... 6 – 109 DCM, definition table ............................................................................ 6 – 112 DEBUGPATH = .......................................................................................9 – 23 Decimal character....................................................................................8 – 85 DECREMENT (DEC) ................................................................................9 – 99 Degrees of Protection ...............................................................................3 – 4 Deleting ...................................................................................................8 – 42 Demo operation for axes...........................................................................6 – 4 Description tables....................................................................................6 – 70 DHCP..................................................................................................... 10 – 14 Diagnosis.................................................................................................8 – 94 Diagnostics log ........................................................................................8 – 86 Differences CC 422/CC 424 ......................................................................7 – 3 Differential factor................................................................................... 6 – 204 Dimensions for BTS 1x0........................................................................ 3 – 124 Dimensions for control knob .................................................................3 – 136 Dimensions for handwheel adapter cable ............................................. 3 – 134 Dimensions for MC 420/CC 422 - 6 ......................................................3 – 113 Dimensions for PL 4xxB........................................................................ 3 – 125 Dimensions for touch-probe adapter cable ........................................... 3 – 138 Dimensions of adapter cable for TT 120/TS 220 ................................... 3 – 139 Dimensions of BF 120........................................................................... 3 – 122 Dimensions of BF 150........................................................................... 3 – 123 Dimensions of HR 130 .......................................................................... 3 – 130 Dimensions of HR 150 .......................................................................... 3 – 131 Dimensions of HR 410 .......................................................................... 3 – 132 Dimensions of HR 420 .......................................................................... 3 – 133 Dimensions of HRA 110........................................................................ 3 – 135 Dimensions of line-drop compensator .................................................. 3 – 129 Dimensions of MB 420 ......................................................................... 3 – 121 Dimensions of MC 42x(B)/CC 422 ........................................................ 3 – 111 Dimensions of MC 42x(B)/CC 422 - 10/12 ............................................ 3 – 112 Dimensions of MC 42x(B)/CC 424 - 10 ................................................. 3 – 116 Dimensions of MC 42x(B)/CC 424 - 12 ................................................. 3 – 117 Dimensions of MC 42x(B)/CC 424 - 6 ................................................... 3 – 114 Dimensions of MC 42x(B)/CC 424 - 8 ................................................... 3 – 115
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D Dimensions of PL 510 ...........................................................................3 – 126 Dimensions of SE 540...........................................................................3 – 141 Dimensions of SE 640...........................................................................3 – 140 Dimensions of TE 420 ...........................................................................3 – 119 Dimensions of TE 530 ...........................................................................3 – 120 Dimensions of TS 220 ...........................................................................3 – 139 Dimensions of TS 440 ...........................................................................3 – 142 Dimensions of TS 640 ...........................................................................3 – 143 Dimensions of TT 130 ...........................................................................3 – 137 Dimensions of USB hub ........................................................................3 – 128 Dimensions of UV 105 ..........................................................................3 – 118 Direction of rotation...............................................................................6 – 281 Directory structure ..................................................................................9 – 22 Display step...............................................................................................8 – 3 Distance ................................................................................................6 – 160 DIVISION (/) .............................................................................................9 – 97 DNS .......................................................................................................10 – 14 Double reference run ............................................................................6 – 150 Double-speed control loop ........................................................................7 – 8 Drive controller, enabling.........................................................................3 – 40 Drive test...............................................................................................8 – 101 Drives using Windows ............................................................................11 – 4 DSP error messages ...............................................................................12 – 3 Dual-spindle operation...........................................................................6 – 303 Dynamic determination of load ...............................................................7 – 19
E Electromagnetic Compatibility...................................................................3 – 4 Electronic ID label..................................................................................8 – 102 EMERGENCY STOP monitoring............................................................6 – 269 EMODE .................................................................................................8 – 126 ENABLE ................................................................................................8 – 126 Encoder monitoring .................................................................................6 – 11 Encoder signals ................................................................... 3 – 49, 6 – 9, 7 – 5 Encoders ........................................................................... 3 – 42, 6 – 7, 7 – 28 END .......................................................................................................8 – 125 END OF MODULE (EM) ........................................................................9 – 125 END OF MODULE IF FALSE (EMF) ......................................................9 – 125 END OF MODULE IF TRUE (EMT)........................................................9 – 125 EnDat.....................................................................................................6 – 149 ENDSKMENU........................................................................................8 – 123 EQUAL TO (==) .....................................................................................9 – 100 EQUAL TO STRING (==) .......................................................................9 – 132 Error list ...................................................................................................8 – 24 Error messages ........................................................................... 8 – 24, 12 – 3 Error Messages during Data Transmission ...........................................12 – 46 Error messages of the file system ........................................................12 – 47 Error trace................................................................................................6 – 42 Ethernet...................................................................................................10 – 9 EXCLUSIVE OR (XO) ...............................................................................9 – 90 EXCLUSIVE OR NOT (XON) ....................................................................9 – 92 EXTERN instruction ...............................................................................9 – 155 External reference pulse .......................................................................6 – 147
September 2006
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F FAILTEST.................................................................................................8 – 70 Fast PLC input .........................................................................................9 – 61 Feed rate limitation................................................................................6 – 192 Feedback control with following error (servo lag) ................................. 6 – 186 Feedback control with velocity feedforward .........................................6 – 188 Feedback control with velocity semifeedforward ................................. 6 – 190 Feed-rate display .......................................................................................8 – 9 Feed-rate enable.................................................................................... 6 – 199 Feed-rate smoothing ............................................................... 6 – 165, 6 – 183 Field Orientation ........................................................................ 6 – 330, 7 – 27 Field-angle definition ...............................................................................7 – 39 File management.......................................................................................9 – 7 Files ....................................................................................................... 8 – 150 FirstInGroup........................................................................................... 8 – 127 Fixed cycles.............................................................................................8 – 47 FN14 ERROR = .......................................................................................9 – 23 FN17 SYSWRITE .....................................................................................9 – 35 FN18 SYSREAD.......................................................................................9 – 40 FN19 PLC =.............................................................................................9 – 33 FN19GROUP =........................................................................................8 – 55 FN20 WAIT FOR......................................................................................9 – 53 FN25 PRESET..........................................................................................8 – 36 FN31 RANGE SELECT.............................................................................8 – 53 FN32 PLC PRESET ..................................................................................8 – 53 FNERRFIX = ............................................................................................9 – 23 FNERROR = ............................................................................................9 – 23 FNERRREASON =...................................................................................9 – 24 Format instructions ...............................................................................8 – 109 Formula in machine parameters................................................................4 – 6 Free rotation ..............................................................................................8 – 7 Freely definable table ............................................................................ 8 – 152 Frequent flexing .................................................................................... 3 – 110
G Gantry axes ........................................................................................... 6 – 134 Gear ranges ........................................................................................... 6 – 282 Gear shifting .......................................................................................... 6 – 283 GLOBAL instruction .............................................................................. 9 – 155 Graphic display ........................................................................................8 – 77 GREATER THAN (>) .............................................................................. 9 – 102 GREATER THAN OR EQUAL TO (=) ..................................... 9 – 133 GREATER THAN STRING (>) ................................................................ 9 – 132 Grounding diagrams .............................................................................. 3 – 145 GROUP= .................................................................................................8 – 54
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HEIDENHAIN Technical Manual iTNC 530
H Handshaking............................................................................................10 – 8 Handwheel ................................................................................ 3 – 71, 8 – 176 Handwheel selection switch ...................................................................2 – 22 Hard-disk organization .............................................................................9 – 21 HDR...........................................................................................................3 – 5 Heat sink temperature...........................................................................6 – 250 Heating ......................................................................................................3 – 7 Help .........................................................................................................8 – 29 HIDE ................................................................................................. 8 – 126 Hirth coupling ........................................................................................8 – 201 Holding torque.......................................................................................6 – 211 Housing fan, MC/CC..............................................................................6 – 251 HR 130 .......................................................................... 2 – 21, 3 – 74, 8 – 179 HR 150 ...................................................................................... 2 – 22, 8 – 184 HR 410 .......................................................................... 2 – 20, 3 – 72, 8 – 179 HR 420 ...................................................................................... 3 – 72, 8 – 181 HRA 110 ........................................................................ 2 – 22, 3 – 74, 8 – 184 HROOT..................................................................................................8 – 126 Humidity ....................................................................................................3 – 8
I I/O-FORCE LIST.......................................................................................9 – 11 I2t monitoring ........................................................................................6 – 251 ID number of PL 4xxB .............................................................................2 – 30 IF...ELSE...ENDI ....................................................................................9 – 150 include ...................................................................................................8 – 125 INCREMENT (INC)...................................................................................9 – 99 INDEX register (X register) ....................................................................9 – 126 Indexed tools.........................................................................................8 – 263 Individual tooth measurement...............................................................8 – 226 Input fields.............................................................................................8 – 118 Input format for machine parameters .......................................................4 – 5 Installing the HDR .....................................................................................3 – 6 Interpolation ..............................................................................................6 – 8 Interpolation factor ................................................................................8 – 176 Interpolator ............................................................................................6 – 162 Inverter status .......................................................................................6 – 264 IPC.........................................................................................................6 – 209 iTNC 530 with Windows 2000 ................................................................11 – 3 iTNC Control Panel ..................................................................................11 – 9 iTNC Keyboard Unit ...............................................................................3 – 101
J Jerk........................................................................................................6 – 160 Jog increment .......................................................................................8 – 199 JUMP (JP) .............................................................................................9 – 121 JUMP IF FALSE (JPF)............................................................................9 – 122 JUMP IF TRUE (JPT) .............................................................................9 – 122
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K Keystroke simulation ............................................................................. 8 – 141 KINEMATIC .............................................................................................8 – 70 KINEMATIC =..........................................................................................9 – 24 Kinematics...............................................................................................6 – 74 Kinematics tables ....................................................................................6 – 70 Kinematics, assignment table .................................................................6 – 78 Kinematics, compatibility.........................................................................6 – 75 Kinematics, definition table ...................................................................6 – 112 Kinematics, description table ..................................................................6 – 80 Kinematics, PLC ......................................................................................6 – 87 Kinematics, SUBFILE ..............................................................................6 – 86 Kinematics, table overview .....................................................................6 – 75 Kinematics, TOOLFILE ............................................................................6 – 84
L LABEL (LBL) .......................................................................................... 9 – 125 Large PLC window ................................................................................8 – 108 LARGEWINDOW................................................................................... 8 – 126 Laser cutting machines ......................................................................... 8 – 230 LEDs on the PLD 16-8.............................................................................3 – 94 LESS THAN (
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